CN219957852U - Laser ranging device and mobile robot - Google Patents

Abstract

The utility model is applicable to the technical field of mobile robots, and provides a laser ranging device and a mobile robot, wherein a main body, a laser transmitting part and a laser receiving part are arranged on the main body; the laser receiving part comprises a receiving lens barrel, a receiving lens and an image sensor, wherein the receiving lens barrel is rotatably arranged on the main body, the rotating shaft of the receiving lens barrel is not coaxial with the optical axis of the receiving lens, and the receiving lens barrel is rotated to change the position of a light spot on the image sensor. The laser ranging device provided by the utility model can adjust the position of the light spot by rotating the receiving lens barrel so that the position of the light spot corresponds to the position of the photosensitive area of the image sensor, is simple to operate, saves time and labor and is low in cost, and the imaging effect of the light spot at different positions in the photosensitive area of the image sensor can be tested by imaging the light spot at different positions in the photosensitive area of the image sensor, so that the optimal imaging position of the light spot is selected.

Description

Laser ranging device and mobile robot

Technical Field

The utility model belongs to the technical field of mobile robots, and particularly relates to a laser ranging device and a mobile robot.

Background

At present, most of mobile robots in the market use a laser radar to detect the environment around the mobile robot, and the laser radar is a radar system for detecting the characteristic quantities such as the position, the speed and the like of a target by emitting laser beams. The working principle is that a detection signal is transmitted to a target, then the received signal reflected from the target is compared with the transmitted signal, and after proper processing, the related information of the target, such as the parameters of the distance, azimuth, altitude, speed, gesture, even shape and the like of the target, can be obtained, so that the targets of an airplane, a missile and the like are detected, tracked and identified. The laser changes the electric pulse into the light pulse to be emitted, and the light receiver restores the light pulse reflected from the target into the electric pulse to be sent to the display.

In order to improve the detection range of the radar, most of the laser radars in the current market set the laser emission end of the radar to have a certain pitch angle, and due to the existence of the pitch angle of the laser emission end, the laser receiving end receives the light spot generated after reflecting laser, which often deviates from the photosensitive area on the image sensor of the radar, the radar cannot detect the light spot, and the position of the laser emission end or the image sensor needs to be adjusted at the moment so that the light spot generated by the laser receiving end corresponds to the position of the photosensitive area on the image sensor, however, the position of the light spot is aligned with the position of the photosensitive area of the image sensor in the mode, which is time-consuming and labor-consuming, has higher cost, and the light spot forming area is smaller, so that the effective imaging area is smaller, and the final imaging position is not easy to determine.

Disclosure of Invention

The embodiment of the utility model aims to provide a laser ranging device and a mobile robot, and aims to solve the technical problems that a radar in the prior art can correspondingly align light spots generated by a laser receiving end with the positions of photosensitive areas of an image sensor by adjusting the positions of a laser transmitting end or the image sensor, and the laser ranging device and the mobile robot are time-consuming and labor-consuming and have high cost.

To achieve the above object, according to one aspect of the present utility model, there is provided a laser ranging apparatus comprising: the laser receiving device comprises a main body, a laser emitting part and a laser receiving part, wherein the laser emitting part is arranged on the main body and is used for emitting laser to a target object; the laser receiving part is used for receiving laser reflected from a target object, the laser receiving part comprises a receiving lens barrel, a receiving lens and an image sensor, the image sensor is arranged on the main body, the receiving lens barrel is rotatably arranged on the main body, the rotating shaft of the receiving lens barrel is not coaxial with the optical axis of the receiving lens, the laser reflected from the target object can form light spots on the image sensor along the extending direction of the optical axis of the receiving lens under the processing of the receiving lens, and the positions of the light spots on the image sensor can be changed by rotating the receiving lens barrel.

Alternatively, the rotation shaft of the receiving lens barrel and the central axis of the receiving lens barrel coincide, and the central axis of the receiving lens barrel and the optical axis of the receiving lens are parallel but do not coincide.

Optionally, the rotation axis of the receiving lens barrel and the central axis of the receiving lens barrel coincide, and the central axis of the receiving lens barrel and the optical axis of the receiving lens are not parallel.

Optionally, the laser receiving part further comprises a receiving mirror cap, wherein the receiving mirror cap is provided with a mounting hole, the receiving lens is arranged in the mounting hole, and the central axis of the receiving lens is coaxial with the optical axis of the receiving lens.

Optionally, the receiving lens cap and the receiving lens barrel are connected and separately arranged.

Optionally, the central axis of the receiving lens cap is not coaxial with the central axis of the receiving lens barrel, and the central axis of the receiving lens cap coincides with the optical axis of the receiving lens.

Optionally, the central axis of the receiving lens cap coincides with the central axis of the receiving lens barrel, and the central axis of the receiving lens cap is not coaxial with the optical axis of the receiving lens.

Alternatively, the receiving lens is disposed in the receiving barrel, and a central axis of the receiving lens and a central axis of the receiving barrel are not coaxial, and the central axis of the receiving lens and an optical axis of the receiving lens are coaxial.

Optionally, a first mounting channel and a second mounting channel are arranged on the main body, the laser emitting part is mounted in the first mounting channel, and the receiving lens barrel is movably mounted in the second mounting channel.

According to another aspect of the present utility model, there is provided a mobile robot including a laser ranging device, the laser ranging device being the laser ranging device described above.

The laser ranging device provided by the utility model has the beneficial effects that: compared with the prior art, the laser ranging device provided by the utility model has the advantages that the rotating shaft of the receiving lens barrel and the optical axis of the receiving lens are arranged to be different, so that the light spot can move along with the rotation of the receiving lens barrel. Therefore, when the receiving lens receives the laser reflected by the target object and the light sensing area of the image sensor deviate, the position of the light spot can be adjusted by rotating the receiving lens barrel, and finally the position of the light spot corresponds to the position of the light sensing area of the image sensor.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a laser ranging device according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of a laser ranging device at another view angle according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of a laser ranging device with parts removed according to an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of a control unit and an image sensor according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a first mounting bracket according to an embodiment of the present utility model;

fig. 6 is a schematic structural diagram of a second mounting bracket according to an embodiment of the present utility model;

FIG. 7 is a schematic view of a laser receiving portion with parts removed according to an embodiment of the present utility model;

FIG. 8 is a schematic view of a laser receiving portion with parts removed from another view according to an embodiment of the present utility model;

FIG. 9 is a cross-sectional view of a laser receiving section with portions of parts removed provided in an embodiment of the present utility model;

reference numerals related to the above figures are as follows:

10. a main body; 11. a first mounting bracket; 111. a first mounting structure; 112. a second mounting structure; 12. a second mounting bracket; 121. a third mounting structure; 122. a fourth mounting structure; 13. a first mounting channel; 14. a second mounting channel;

20. a laser emitting section;

30. a laser receiving section; 31. a receiving barrel; 32. receiving a mirror cap; 321. a mounting hole; 33. a receiving lens; 34. an image sensor;

40. a control unit; 41. and a control circuit board.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. Embodiments of the utility model and features of the embodiments may be combined with each other without conflict. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

As described in the background art, most of mobile robots on the market today use a laser radar, which is a radar system that detects a characteristic amount such as a position and a speed of a target by emitting a laser beam, to detect the environment around the mobile robot. The working principle is that a detection signal is transmitted to a target, then the received signal reflected from the target is compared with the transmitted signal, and after proper processing, the related information of the target, such as the parameters of the distance, azimuth, altitude, speed, gesture, even shape and the like of the target, can be obtained, so that the targets of an airplane, a missile and the like are detected, tracked and identified. The laser changes the electric pulse into the light pulse to be emitted, and the light receiver restores the light pulse reflected from the target into the electric pulse to be sent to the display. In order to improve the detection range of the radar, the laser radar in the current market mostly sets the laser emission end of the radar to have a certain pitch angle, and due to the existence of the pitch angle of the laser emission end, the laser receiving end receives the facula generated after reflecting laser, the facula is often deviated from the photosensitive area on the image sensor of the radar, the radar cannot detect the facula, and the position of the laser emission end or the image sensor needs to be adjusted at the moment, so that the facula generated by the laser receiving end corresponds to the position of the photosensitive area on the image sensor, but the position of the facula is aligned with the position of the image sensor by adopting the mode, so that the time and the labor are wasted, the cost is high, the facula forming area is small, the effective imaging area is small, and the final imaging position is not easy to determine.

Referring to fig. 1 to 9, in order to solve the above-described problems, according to an aspect of the present utility model, an embodiment of the present utility model provides a laser ranging apparatus including: the laser ranging device includes: a main body 10, a laser emitting portion 20 and a laser receiving portion 30, wherein the laser emitting portion 20 is disposed on the main body 10, and the laser emitting portion 20 is used for emitting laser to a target object; the laser receiving unit 30 is configured to receive laser light reflected from a target, the laser receiving unit 30 includes a receiving lens barrel 31, a receiving lens 33, and an image sensor 34, the image sensor 34 is disposed on the main body 10, the receiving lens barrel 31 is rotatably disposed on the main body 10, a rotation axis of the receiving lens barrel 31 is not coaxial with an optical axis of the receiving lens 33, the laser light reflected from the target can be processed by the receiving lens 33 to form a spot on the image sensor 34 along an extending direction of the optical axis of the receiving lens 33, and the position of the spot on the image sensor 34 can be changed by rotating the receiving lens barrel 31. The laser ranging apparatus provided in the present embodiment enables the spot to move with the rotation of the receiving barrel 31 by setting the rotation axis of the receiving barrel 31 and the optical axis of the receiving lens 33 to be different axes. Therefore, when the receiving lens 33 receives the laser reflected from the target and the light receiving area of the image sensor 34 is deviated, the position of the light spot can be adjusted by rotating the receiving lens barrel 31, so that the position of the light spot corresponds to the position of the light receiving area of the image sensor 34, and the position of the light spot is aligned with the position of the light receiving area on the image sensor 34 in the above manner, so that the time and labor are saved, the cost is low, and at the same time, the imaging effect of the light spot at different positions in the light receiving area of the image sensor 34 can be tested by imaging the light spot at different positions in the light receiving area of the image sensor 34, and the optimal imaging position of the light spot can be selected.

Referring to fig. 9, in a specific embodiment, in order to enable the position of the spot projected by the receiving lens 33 on the image sensor 34 provided in the present embodiment to move with the rotation of the receiving lens barrel 31, the rotation axis of the receiving lens barrel 31 and the central axis of the receiving lens barrel 31 in the present embodiment coincide, and the central axis of the receiving lens barrel 31 and the optical axis of the receiving lens 33 are parallel but do not coincide. By arranging the rotation axis of the receiving lens barrel 31 provided in the present embodiment to coincide with the central axis of the receiving lens barrel 31 and by making the central axis of the receiving lens barrel 31 parallel to and not coincide with the optical axis of the receiving lens 33, the optical axis of the receiving lens 33 can be rotated along the rotation axis of the receiving lens barrel 31 when the receiving lens barrel 31 provided in the present embodiment is rotated, so that the position of the spot projected by the receiving lens 33 on the image sensor 34 can be moved along with the rotation of the receiving lens barrel 31.

In another embodiment, in order to enable the position of the spot projected by the receiving lens 33 on the image sensor 34 provided in the present embodiment to move with the rotation of the receiving lens barrel 31, the rotation axis of the receiving lens barrel 31 and the central axis of the receiving lens barrel 31 in the present embodiment coincide, and the central axis of the receiving lens barrel 31 and the optical axis of the receiving lens 33 are not parallel. By disposing the rotation axis of the receiving lens barrel 31 provided in the present embodiment to coincide with the central axis of the receiving lens barrel 31 and making the central axis of the receiving lens barrel 31 not parallel to the optical axis of the receiving lens 33, the optical axis of the receiving lens 33 can be rotated along the rotation axis of the receiving lens barrel 31 when the receiving lens barrel 31 provided in the present embodiment is rotated, so that the position of the spot projected by the receiving lens 33 on the image sensor 34 can be moved along with the rotation of the receiving lens barrel 31.

In a specific embodiment, in order to facilitate the installation of the receiving lens 33 provided in the present embodiment, the laser receiving portion 30 in the present embodiment further includes a receiving mirror cap 32, a mounting hole is provided on the receiving mirror cap 32, the receiving lens 33 is provided in the mounting hole, and a central axis of the receiving lens 33 and an optical axis of the receiving lens 33 are coaxial. By providing the mounting hole on the receiving mirror cap 32 provided in the present embodiment, the receiving lens 33 provided in the present embodiment can be mounted on the receiving mirror cap 32 through the inside of the mounting hole.

In an alternative embodiment, in order to enable the receiving cap 32 provided in the present embodiment to move with the movement of the receiving barrel 31, the receiving cap 32 and the receiving barrel 31 in the present embodiment are connected and provided separately. By connecting the receiving cap 32 provided by the present embodiment with the receiving barrel 31, the receiving cap 32 provided by the present embodiment can be moved with the movement of the receiving barrel 31. Meanwhile, by separately arranging the receiving cap 32 and the receiving barrel 31 provided in the embodiment, the receiving cap 32 and the receiving barrel 31 provided in the embodiment can be conveniently formed, and the receiving lens 33 can be conveniently mounted, however, in other embodiments, the receiving cap 32 and the receiving barrel 31 provided in the embodiment can be integrally formed.

In a specific embodiment, the central axis of the receiving cap 32 in this embodiment is not coaxial with the central axis of the receiving barrel 31, and the central axis of the receiving cap 32 coincides with the optical axis of the receiving lens 33. By setting the central axis of the receiving cap 32 provided in the present embodiment to be different from the central axis of the receiving barrel 31, the central axis of the receiving cap 32 is set to coincide with the central axis of the receiving lens 33, so that the optical axis of the receiving lens 33 provided in the present embodiment is different from the central axis of the receiving barrel 31, and since the optical axis of the receiving lens 33 provided in the present embodiment is different from the central axis of the receiving barrel 31, when the receiving barrel 31 rotates, the optical axis of the receiving lens 33 rotates along the central axis of the receiving barrel 31, and the position of the spot projected by the receiving lens 33 on the image sensor 34 moves along with the rotation of the receiving barrel 31.

In another embodiment, the central axis of the receiving cap 32 in this embodiment coincides with the central axis of the receiving barrel 31, and the central axis of the receiving cap 32 is not coaxial with the optical axis of the receiving lens 33. By setting the central axis of the receiving cap 32 provided in the present embodiment to coincide with the central axis of the receiving barrel 31, the central axis of the receiving cap 32 is set to be different from the optical axis of the receiving lens 33, so that the optical axis of the receiving lens 33 provided in the present embodiment is different from the central axis of the receiving barrel 31, and since the optical axis of the receiving lens 33 provided in the present embodiment is different from the central axis of the receiving barrel 31, when the receiving barrel 31 rotates, the optical axis of the receiving lens 33 rotates along the central axis of the receiving barrel 31, and the position of the spot projected by the receiving lens 33 on the image sensor 34 moves along with the rotation of the receiving barrel 31.

In another embodiment, the receiving lens 33 in the present embodiment is provided in the receiving barrel 31, and the central axis of the receiving lens 33 and the central axis of the receiving barrel 31 are not coaxial, and the central axis of the receiving lens 33 and the optical axis of the receiving lens 33 are coaxial. By disposing the receiving lens 33 provided in the receiving barrel 31 and disposing the central axis of the receiving lens 33 so as not to be coaxial with the central axis of the receiving barrel 31, the central axis of the receiving lens 33 and the optical axis of the receiving lens 33 are coaxial, so that the optical axis of the receiving lens 33 provided in the present embodiment is not coaxial with the central axis of the receiving barrel 31, since the optical axis of the receiving lens 33 provided in the present embodiment is not coaxial with the central axis of the receiving barrel 31, when the receiving barrel 31 rotates, the optical axis of the receiving lens 33 rotates along the central axis of the receiving barrel 31, and the position of the spot projected by the receiving lens 33 on the image sensor 34 moves with the rotation of the receiving barrel 31.

Referring to fig. 1 to 6, in order to facilitate the installation of the laser emitting part 20 and the receiving barrel 31 provided in the present embodiment, the main body 10 in the present embodiment is provided with a first installation channel 13 and a second installation channel 14, the laser emitting part 20 is installed in the first installation channel 13, and the receiving barrel 31 is movably installed in the second installation channel 14. By providing the first mounting channel 13 and the second mounting channel 14 on the main body 10 provided in the present embodiment, the laser emitting section 20 and the receiving barrel 31 provided in the present embodiment can be mounted on the first mounting channel 13 and the second mounting channel 14, respectively.

In a preferred embodiment, the axis of the first mounting channel 13 and the axis of the second mounting channel 14 are located in the same plane, a preset included angle is formed between the axis of the first mounting channel 13 and the axis of the second mounting channel 14, and an intersection point of the axis of the first mounting channel 13 and the axis of the second mounting channel 14 is located on a side of the main body 10 away from the image sensor 34.

Referring to fig. 1 to 6, in order to enable rapid mounting of the laser emitting part 20 and the receiving barrel 31 provided in the present embodiment, the main body 10 in the present embodiment includes a first mounting bracket 11 and a second mounting bracket 12, the first mounting bracket 11 is mounted to the second mounting bracket 12, a first mounting structure 111 and a second mounting structure 112 are provided on one end of the first mounting bracket 11 near the second mounting bracket 12, a third mounting structure 121 and a fourth mounting structure 122 are provided on one end of the second mounting bracket 12 near the first mounting bracket 11, the position of the first mounting structure 111 corresponds to the position of the third mounting structure 121, the position of the second mounting structure 112 corresponds to the position of the fourth mounting structure 122, the first mounting structure 111 and the second mounting structure 112 together constitute the first mounting channel 13, and the second mounting structure 112 and the fourth mounting structure 122 together constitute the second mounting channel 14. By providing the first mounting bracket 11 and the second mounting structure 112 on the end near the second mounting bracket 12, and providing the third mounting structure 121 and the fourth mounting structure 122 on the end near the first mounting bracket 11, and simultaneously, making the position of the first mounting structure 111 correspond to the position of the third mounting structure 121 and the position of the second mounting structure 112 correspond to the position of the fourth mounting structure 122, the first mounting structure 111 and the second mounting structure 112 together form the first mounting channel 13, and the second mounting structure 112 and the fourth mounting structure 122 together form the second mounting channel 14 when the first mounting bracket 11 is mounted on the second mounting bracket 12. In the mounting of the laser emitting portion 20 and the receiving lens barrel 31 provided in the present embodiment, the laser emitting portion 20 and the receiving lens barrel 31 can be quickly mounted by only disposing the laser emitting portion 20 between the first mounting structure 111 and the second mounting structure 112, disposing the receiving lens barrel 31 between the second mounting structure 112 and the fourth mounting structure 122, and then mounting the first mounting bracket 11 on the second mounting bracket 12.

In a preferred embodiment, the first mounting bracket 11 and the second mounting bracket 12 provided in this embodiment are fixedly connected by a threaded fastener, and in other embodiments, the first mounting bracket and the second mounting bracket 12 provided in this embodiment may be connected by a buckle, a rivet, or the like.

In a preferred embodiment, in order to filter the light projected onto the image sensor 34 provided in the present embodiment, the laser light receiving section 30 in the present embodiment further includes a filter disposed in the mounting hole, the filter being for filtering the light projected onto the image sensor 34. By arranging the filter in the mounting hole provided by the embodiment, the light projected onto the image sensor 34 can be effectively filtered, so that the measurement accuracy of the laser ranging device provided by the embodiment is effectively improved.

In a specific embodiment, in order to enable the receiving lens barrel 31 provided in the present embodiment to be rotatably mounted in the second mounting channel 14, a first thread structure is disposed in the second mounting channel 14 in the present embodiment, a second thread structure is disposed on the receiving lens barrel 31, and the first thread structure is adapted to the second thread structure, and the receiving lens barrel 31 can be screwed with the first thread structure through the second thread structure. By providing the first thread structure in the second mounting channel 14 provided in the present embodiment, providing the second thread structure on the receiving lens barrel 31 and adapting the first thread structure to the second thread structure, the receiving lens barrel 31 provided in the present embodiment can be rotatably mounted in the second mounting channel 14 through screwing of the second thread structure and the first thread structure.

In a specific embodiment, by rotatably mounting the receiving barrel 31 provided in this embodiment in the second mounting channel 14 by screwing the second screw structure and the first screw structure, the receiving barrel 31 provided in this embodiment can be rotated with respect to the main body 10, and the distance between the receiving barrel 31 and the image sensor 34 can be adjusted while the receiving barrel is rotated, and since the receiving cap 32 is connected to the receiving barrel 31, the receiving lens 33 is mounted in the receiving cap 32 or the receiving barrel 31, and the distance between the receiving lens 33 and the image sensor 34 can be adjusted while the distance between the receiving barrel 31 and the image sensor 34 is adjusted, thereby achieving focusing.

In a preferred embodiment, the first thread structure provided in this embodiment is provided on the second mounting structure 112 or the fourth mounting structure 122.

In a preferred embodiment, the laser ranging device further includes a control unit 40, the control unit 40 is disposed on the main body 10, the image sensor 34 is electrically connected to the control unit 40, and the control unit 40 is configured to receive information collected by the image sensor 34. The distance between the information laser ranging device and the target object, the three-dimensional structure of the target object and the like.

In a specific embodiment, the control part 40 in this embodiment includes a control circuit board 41, the control circuit board 41 is fixedly connected to the main body 10 by a threaded fastener, and the image sensor 34 is fixedly mounted on the control circuit board 41 and is electrically connected to the control circuit board 41.

In a preferred embodiment, the body 10 provided in this embodiment is provided with a weight-reducing structure, and by providing the body 10 provided in this embodiment with a weight-reducing structure, the weight of the body 10 provided in this embodiment can be effectively reduced.

In a preferred embodiment, a preset elevation angle is set between the laser emitted by the laser emitting portion 20 and the horizontal plane, and the value range of the preset elevation angle is 0-1 degree.

Fig. 9 is a schematic diagram of a cross-sectional view of a laser receiving section as only a part removed, in which the receiving lens 33 and the receiving barrel 31 are actually two separate components.

According to another aspect of the present utility model, there is provided a mobile robot including a laser ranging device, the laser ranging device being the laser ranging device described above.

In summary, implementing the laser ranging device and the mobile robot provided by the embodiment has at least the following beneficial technical effects: the laser ranging apparatus provided in the present embodiment enables the spot to move with the rotation of the receiving barrel 31 by setting the rotation axis of the receiving barrel 31 and the optical axis of the receiving lens 33 to be different axes. Therefore, when the receiving lens 33 receives the laser reflected from the target and the light receiving area of the image sensor 34 is deviated, the position of the light spot can be adjusted by rotating the receiving lens barrel 31, so that the position of the light spot corresponds to the position of the light receiving area of the image sensor 34, and the position of the light spot is aligned with the position of the light receiving area on the image sensor 34 in the above manner, so that the time and labor are saved, the cost is low, and at the same time, the imaging effect of the light spot at different positions in the light receiving area of the image sensor 34 can be tested by imaging the light spot at different positions in the light receiving area of the image sensor 34, and the optimal imaging position of the light spot can be selected.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (10)

1. A laser ranging device, characterized in that it comprises:

a main body (10);

a laser emission part (20), the laser emission part (20) being provided on the main body (10), the laser emission part (20) being for emitting laser light to a target object;

the laser receiving part (30), laser receiving part (30) are used for receiving the laser that reflects from on the target, laser receiving part (30) are including receiving lens cone (31), receiving lens (33) and image sensor (34), image sensor (34) set up on main part (10), receiving lens cone (31) rotatable setting is in on main part (10), receiving lens cone (31) pivot with receiving lens (33) optical axis is coaxial, and the laser that reflects from on the target can be under receiving lens (33) processing, along receiving lens (33) optical axis's extending direction, form the facula on image sensor (34), rotatory receiving lens cone (31) can change the facula on image sensor (34).

2. The laser ranging device according to claim 1, characterized in that a rotation axis of the receiving barrel (31) and a central axis of the receiving barrel (31) coincide, and the central axis of the receiving barrel (31) and an optical axis of the receiving lens (33) are parallel but do not coincide.

3. The laser ranging device according to claim 1, characterized in that a rotation axis of the receiving barrel (31) and a central axis of the receiving barrel (31) coincide, and the central axis of the receiving barrel (31) and an optical axis of the receiving lens (33) are not parallel.

4. A laser ranging device as claimed in any one of claims 1 to 3, characterized in that the laser receiving part (30) further comprises a receiving mirror cap (32), a mounting hole (321) is provided on the receiving mirror cap (32), the receiving lens (33) is provided in the mounting hole (321), and a central axis of the receiving lens (33) and an optical axis of the receiving lens (33) are coaxial.

5. The laser ranging device according to claim 4, characterized in that the receiving mirror cap (32) and the receiving lens barrel (31) are connected and provided separately.

6. The laser ranging device according to claim 4, wherein a central axis of the receiving cap (32) is not coaxial with a central axis of the receiving barrel (31), and a central axis of the receiving cap (32) coincides with an optical axis of the receiving lens (33).

7. The laser ranging device according to claim 4, wherein a central axis of the receiving cap (32) coincides with a central axis of the receiving barrel (31), and a central axis of the receiving cap (32) is not coaxial with an optical axis of the receiving lens (33).

8. A laser ranging device as claimed in any one of claims 1 to 3, characterized in that the receiving lens (33) is provided in the receiving barrel (31), and a central axis of the receiving lens (33) and a central axis of the receiving barrel (31) are not coaxial, the central axis of the receiving lens (33) and an optical axis of the receiving lens (33) being coaxial.

9. A laser ranging device as claimed in any one of claims 1 to 3, wherein the body (10) is provided with a first mounting channel (13) and a second mounting channel (14), the laser emitting portion (20) being mounted in the first mounting channel (13), and the receiving barrel (31) being movably mounted in the second mounting channel (14).

10. A mobile robot comprising the laser ranging device according to any one of claims 1 to 9.