WO2022252309A1 - Ranging device, lidar, and mobile robot - Google Patents

Abstract

A ranging device (100), a lidar (200), and a mobile robot, applied to the technical field of ranging. The ranging device (100) comprises: a laser emitting unit (10) used for emitting a pulse laser to a target object to be subjected to ranging; a first receiving unit (20) used for receiving the pulse laser reflected by said target object and generating a corresponding first signal, the first signal being used for calculating and determining the distance according to a triangulation ranging principle; and a second receiving unit (30) used for receiving the pulse laser reflected by said target object and generating a corresponding second signal, the second signal being used for calculating and determining the distance according to a time-of-flight principle. At least two of the laser emitting unit (10), the first receiving unit (20), and the second receiving unit (30) are arranged on different circuit boards. In this way, the ranging device (100) is suitable for measuring long and short distances, and is high in measurement accuracy.

Description

Ranging devices, lidar and mobile robots

Cross References to Related Applications

This application claims priority to a Chinese patent application with application number 2021106016681 filed with the China Patent Office on May 31, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of ranging, in particular to a ranging device, a laser radar having the ranging device, and a mobile robot.

Background technique

With the miniaturization and low cost of components, spatial positioning technology is becoming more and more popular, and it can be applied in autonomous navigation fields such as household mobile robots, drones, and unmanned driving. In spatial positioning technology, optical positioning technology is widely used because of its high precision and fast response.

In optical positioning technology, the most common ranging device basically includes a light emitting component and a light receiving component. The positioning method involved in the distance measuring device is usually a triangulation method, which has moderate measurement distance and accuracy, fast response, and relatively low hardware cost. Therefore, most consumer-grade optical positioning devices, such as lidar for sweeping robots, widely use triangulation.

As shown in FIG. 1 , it is a distance measuring device 1 in the related art. The distance measuring device 1 may be based on triangulation and mainly comprises a laser emitting assembly 2 and an image sensor assembly 3 . The measurement principle of the distance measuring device 1 is that the laser emitting component 2 emits laser light, and the reflected light of the target passes through the light receiving component 4 and is captured by the image sensor component 3 , and a signal response is generated at a certain area of the image sensor component 3 .

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

However, although the distance measuring device using the triangulation method has high measurement accuracy for short distances, its measurement accuracy for long distances is poor; this makes it difficult for the distance measuring device using the triangulation method to be suitable for long distance measurement.

Contents of the invention

The technical problem mainly solved by this application is to provide a distance measuring device, which can be suitable for accurate measurement of long distance and short distance.

The embodiments of the present application provide the following technical solutions to solve the technical problems.

A distance measuring device, comprising: a laser emitting unit, the laser emitting unit is used to emit pulsed laser light to a target object to be range-measured; a first receiving unit, the first receiving unit is used to receive the pulsed laser light from the target object The reflected pulsed laser light, and generate a corresponding first signal; the first signal is used to calculate and determine the distance according to the principle of triangulation ranging; the second receiving unit, the second receiving unit is used to receive the signal from the The pulsed laser light reflected by the target object generates 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 arranged 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 arranged on the first circuit board, the second circuit board and the 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 arranged on a fourth circuit board, and the second receiving unit is arranged 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 arranged on a fifth circuit board, and the first receiving unit is arranged 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 to be parallel to each other; or, at least two of the different circuit boards are arranged to be non-parallel.

As a further improvement of the above technical solution, the distance measuring device further includes a calculation unit, the calculation unit is used to receive the first signal and the second signal and perform distance calculation according to the triangulation ranging principle and the time-of-flight principle respectively and ok.

The embodiment of the present application solves the technical problem and also provides the following technical solutions.

A distance measuring device, which includes: a laser emitting unit, the laser emitting unit is used to emit pulsed laser light to the target object to be range-measured; a first receiving unit, the first receiving unit is used to receive the target object from the target The pulse laser reflected by the object, and generate a corresponding first signal; the first signal is used for distance calculation and determination according to the triangulation ranging principle; the second receiving unit, the second receiving unit is used for receiving from the The pulsed laser light reflected by 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. Wherein, one of the first receiving unit and the second receiving unit is set up and down with the laser emitting unit, and the other of the first receiving unit and the second receiving unit is arranged with the laser emitting unit left and right settings.

As a further improvement of the above technical solution, the laser emitting unit, the first receiving unit and the second receiving unit are all arranged 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 arranged on different circuit boards.

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

As a further improvement of the above technical solution, the distance measuring device further includes a calculation unit, the calculation unit is used to receive the first signal and the second signal and perform distance calculation according to the triangulation ranging principle and the time-of-flight principle respectively and OK

The embodiment of the present application solves the technical problem and also provides the following technical solutions.

A distance measuring device, which includes: a laser emitting unit, the laser emitting unit is used to emit pulsed laser light to the target object to be range-measured; a first receiving unit, the first receiving unit is used to receive the target object from the target The pulse laser reflected by the object, and generate a corresponding first signal; the first signal is used for distance calculation and determination according to the triangulation ranging principle; the second receiving unit, the second receiving unit is used for receiving from the The pulsed laser light reflected by the target object, and generate a corresponding second signal; the second signal is used to calculate and determine the distance according to the time-of-flight principle; the reflector, the reflector is used to convert from the target object The reflected pulsed laser light is reflected 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 is arranged left and right with the laser emitting unit; the other of the first receiving unit and the second receiving unit Provided behind the laser emitting unit, and the reflecting 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 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 one of the first receiving unit and the second receiving unit and the laser emitting unit are arranged on the same circuit board or on different circuit boards.

As a further improvement of the above technical solution, the distance measuring device further includes a calculation unit, the calculation unit is used to receive the first signal and the second signal and perform distance calculation according to the triangulation ranging principle and the time-of-flight principle respectively and ok.

The embodiment of the present application solves the technical problem and also provides the following technical solutions.

A laser radar, comprising: any distance measuring device described above; The base, the driving device is installed on the base, the transmission mechanism is connected to the rotating base and the driving device, and the distance measuring device is arranged on the rotating base.

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

The embodiment of the present application solves the technical problem and also provides the following technical solutions.

A mobile robot is characterized in that it includes the above-mentioned laser radar.

Compared with the prior art, in the ranging device provided by the embodiment of the present application, because the time-of-flight ranging method has the characteristics of high long-distance precision and low short-distance precision, the triangular distance measurement method has high short-distance precision and long-distance precision. The distance accuracy is poor, so by combining the advantages of time-of-flight ranging and triangular ranging, the ranging device of the present application is suitable for measuring long and short distances, and the measurement accuracy is high. In addition, the distance measuring device provided by the embodiment of the present application can also make the structure more compact while taking into account the long and short distance measurement.

Description of drawings

One or more implementations are exemplified by the corresponding drawings, and these exemplifications are not construed as limiting the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified , the figures in the accompanying drawings are not limited to scale.

FIG. 1 is a schematic perspective view of a distance measuring device in the related art;

FIG. 2 is a schematic perspective view of a distance measuring device provided in the first embodiment of the present application;

FIG. 3 is a schematic cross-sectional view of a distance measuring device provided in the first embodiment of the present application;

Fig. 4 is a schematic diagram of an optical path of the ranging device shown in Fig. 3;

FIG. 5 is a schematic plan view of a distance measuring device provided in the second embodiment of the present application;

FIG. 6 is a schematic plan view of a distance measuring device provided in the third embodiment of the present application;

FIG. 7 is a schematic plan view of a distance measuring device provided in the fourth embodiment of the present application;

Fig. 8 is a schematic plan view of a distance measuring device provided in the fifth embodiment of the present application;

FIG. 9 is another schematic plan view of a distance measuring device provided in the fifth embodiment of the present application;

FIG. 10 is a schematic plan view of a distance measuring device provided in the sixth embodiment of the present application;

Fig. 11 is a schematic cross-sectional view of a ranging device provided in the seventh embodiment of the present application;

Fig. 12 is a schematic cross-sectional view of a distance measuring device provided in the eighth embodiment of the present application;

Fig. 13 is a schematic cross-sectional view of a ranging device provided in the ninth embodiment of the present application;

FIG. 14 is a perspective schematic diagram of a laser radar provided by an embodiment of the present application;

FIG. 15 is a three-dimensional exploded schematic diagram of the lidar shown in FIG. 14 .

Detailed ways

In order to facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is said to be "fixed" to another element, it may be directly on the other element, or there may be one or more intervening elements therebetween. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical", "horizontal", "left", "right", "upper", "lower", "inner", "outer", "bottom", etc. used in this specification indicate orientation or positional relationship Based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot understood as a limitation of the application. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the technical field of this application. The terms used in the description of the present application are only for the purpose of describing specific embodiments, and are not used to limit the present application. The term "and/or" used in this specification includes any and all combinations of one or more of the associated listed items.

In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not constitute a conflict with each other.

Please refer to FIG. 2 and FIG. 3 , which are respectively a schematic perspective view and a schematic cross-sectional view of a distance measuring device 100 provided in the first embodiment of the present application. As shown in the figure, the distance measuring device 100 mainly includes a laser emitting unit 10 , a first receiving unit 20 , a second receiving unit 30 , a computing unit 40 and a circuit board 50 . The laser emitting unit 10 , the first receiving unit 20 , the second receiving unit 30 and the computing unit 40 are all connected to the circuit board 50 for realizing signal transmission and control.

Wherein, the laser emitting unit 10 is used to emit pulsed laser light to the target object to be range-measured. The laser emitting unit 10 can be configured as a laser diode, which can emit laser pulses for distance measurement. The pulsed laser emitted by the laser emitting unit 10 may be a high-frequency pulsed laser, for example, a pulsed laser above 1 kHz. The laser emitting unit 10 such as 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 set perpendicular to the circuit board 50 . A control device for controlling the laser emitting unit 10 to emit laser pulses can be installed on the circuit board 50, and this control device can be integrated in the computing unit 40, so that the computing unit 40 becomes a main control device . It can be understood that, in other implementation manners, other devices capable of emitting laser light can also be used as the laser emitting unit 10 .

The first receiving unit 20 is used 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 triangulation ranging principle, that is, That is, the first signal is used to transmit to the calculation unit 40 for the calculation unit 40 to perform distance calculation and determination based on the first signal and according to the triangulation ranging principle. The first receiving unit 20 can be installed on the circuit board 50 by soldering, or be integrated on the circuit board 50 . The optical axis X2 of the first receiving unit 20 can be set to be perpendicular to the circuit board 50, and when the first receiving unit 20 senses the laser pulse reflected back by the target object, it can generate a corresponding photoelectric signal and transmit it through The circuits on the circuit board 50 are passed to the computing unit 40 . The calculation unit 40 can analyze and calculate the photoelectric signal according to the principle of triangulation distance measurement to obtain the distance between the target object and the distance measurement device 100 .

It is pointed out here that the triangulation ranging principle is: the laser emitting unit 10 emits laser light, and after the target object is irradiated, the reflected light is received by the first receiving unit 20 of a linear CCD (Charge Coupled Device, Charge Coupled Device), for example, due to the laser emitting The unit 10 and the first receiving unit 20 are separated by a certain distance, so according to the optical path, target objects at different distances will be imaged at different positions on the first receiving unit 20 such as a linear CCD; then, calculate according to the trigonometric formula, then The distance between the measured target object and the distance measuring device 100 can be deduced.

The second receiving unit 30 is used 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, that is to say , the second signal is used to transmit to the calculation unit 40 for the calculation unit 40 to perform distance calculation and determination based on 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 (Single Photon Avalanche Diode, SPAD); SPAD is a uniquely designed Image sensors, in which each pixel has an electrical component; when a single photon, called a photon, reaches a pixel, it is "multiplied" to produce a single large electrical pulse; a single photon produces multiple The functionality of the electronics offers many advantages, such as high-precision distance measurement and greater sensitivity during image capture. The second receiving unit 30 can be installed on the circuit board 50 by soldering, or be integrated on the circuit board 50 . The optical axis X5 of the second receiving unit 30 may be set perpendicular to the circuit board 50 . When the second receiving unit 30 senses the laser pulse reflected back by the target object, it can generate a corresponding photoelectric signal and transmit it to the computing unit 40 through the circuit on the circuit board 50 . The calculation unit 40 can analyze and calculate the photoelectric signal according to the time-of-flight principle (English full name is Time Of Flight, TOF for short) to obtain the distance between the target object and the distance measuring device 100 .

It is pointed out here that the time-of-flight principle is: the laser emitting unit 10 emits a laser pulse, and the time of emission is recorded by the timer, and after the target object is irradiated, the reflected light is received by the second receiving unit 30 and recorded by the timer The time of receiving is lowered; the "time of flight" of light is obtained by subtracting the two times, and the speed of light is constant, so the distance between the target object and the distance measuring device 100 can be easily calculated after the speed and time are known. distance.

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

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

The calculation unit 40 can analyze the first signal according to the triangulation ranging principle to know the first distance between the target object and the distance measuring device 100, and analyze the second signal according to the time-of-flight principle to know the second distance between the target object and the distance measuring device 100; and, the calculation unit 40 can determine the distance between the target object and the distance measuring device in a weighted manner according to the first distance and the second distance The distance between the devices 100.

In an example, when both the first distance and the second distance are greater than the first set distance, the calculation unit 40 may mainly use the second distance as the distance between the target object and the distance measuring device 100 . The distance is determined. 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 calculating unit 40 determines the distance between the target object and the distance measuring device 100 as 12 meters. This is because, when the distance between the target object and the distance measuring device 100 is relatively long, the distance calculated according to the time-of-flight principle is more accurate. Certainly, the first distance may also be considered in the weighted calculation; and the weights of the first distance and the second distance in the weighted calculation may be determined according to experiments.

In one example, when both the first distance and the second distance are below the second set distance, the calculation unit 40 may mainly use the first distance as the distance between the target object and the distance measuring device 100 The distance is determined, wherein the second set distance is smaller than the first set 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 distance measuring device 100 as 4 meters. This is because, when the distance between the target object and the distance measuring device 100 is relatively short, the distance calculated according to the principle of triangulation distance measurement is more accurate. Of course, in the weighted calculation, the second distance can also be considered; and the weights of the first distance and the second distance in the weighted calculation can be determined according to experiments.

In one example, when both the first distance and the second distance are greater than the second set distance and less than the first set distance, the calculation unit 40 may combine the target object with the distance measuring device The distance between 100 is weighted and averaged by using the first distance and the second distance, so as to determine the 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 distance measuring device 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 distance measuring device 100 is in the middle distance, the weighted average of the two distances calculated according to the triangulation ranging principle and the time-of-flight principle can be used to obtain a more accurate distance. In the weighted calculation, the weights of the first distance and the second distance in the weighted calculation can be determined according to experiments.

In some embodiments, as shown in FIG. 3 , the distance measuring device 100 may further include a first lens 21 for allowing the pulsed laser reflected by the target object to pass through and project to the target object. Describe the first receiving unit 20. The first lens 21 can be installed on the first frame 22 , and the first frame 22 can be fixed on the circuit board 50 such that the first lens 21 is roughly located above the first receiving unit 20 . The laser pulses reflected back by the target object can be focused and collimated by the first mirror 21 before being sensed by the first receiving unit 20 . In addition, the first lens 21 can be an aspherical lens, such as an aspheric glass lens; thus, by using an aspheric lens, that is, the lens corresponding to the first receiving unit 20 adopts a single lens design, which can effectively simplify distance measurement. The lens structure of the device is also convenient for assembly, which can effectively reduce the cost of components corresponding to the first receiving unit 20 and the entire distance measuring device.

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 parallel and misaligned, that is, the first receiving unit 20 is opposite to each other. The first mirror 21 is offset. Moreover, the optical axis X2 of the first receiving unit 20 is farther away from the optical axis X3 of the laser emitting unit 10 than the optical axis X1 of the first lens 21 . For example, the optical axis X1 of the first lens 21 can be its central axis, and the optical axis X2 of the first receiving unit 20 can be an axis passing through the central point of the first receiving unit 20 and perpendicular to it, so The optical axis X3 of the laser emitting unit 10 may be its central axis. 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 to the left more than the optical axis X1 of the first lens 21 . In addition, the first receiving unit 20 and the first lens 21 can also be located on the right side of the laser emitting unit 10; at this time, the optical axis X2 of the first receiving unit 20 and the first lens 21 The optical axis X1 of the laser emitting unit 10 is 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 more offset to the right than the optical axis X1 of the first lens 21 . As shown in FIG. 4 , within the short-distance measurement range, after the laser light L emitted by the laser emitting unit 10 irradiates the target object, various reflected lights L1, L2, L3, etc. pass through the first lens 21 and are mostly projected on the second lens. A receiving unit 20 is away from the direction of the laser emitting unit 10 , so biasing the first receiving unit 20 to a side away from the laser emitting unit 10 can maximize the utilization of the sensor target surface of the first receiving unit 20 .

In some embodiments, as shown in FIG. 3 , the distance measuring device 100 may further include a second lens 31 for allowing the pulsed laser reflected by the target object to pass through and project to the target object. Describe the second receiving unit 30. The second lens 31 can be installed on the second frame 32 , and the second frame 32 can be fixed on the circuit board 50 so that the second lens 31 is located above the second receiving unit 30 . The optical axis X6 of the second lens 31 can be set to be perpendicular to the circuit board 50 and coincide with the optical axis X5 of the second receiving unit 30; or, the second lens 31 can be set as an adjustable part , and when the second lens 31 is adjusted to a better effect, its optical axis X6 may not completely coincide with the optical axis X5 of the second receiving unit 30 . The laser pulses reflected back by the target object can 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 its central axis, and the optical axis X5 of the second receiving unit 30 may pass through the center of the second receiving unit 30 and be perpendicular to it.

In some embodiments, as shown in FIG. 3 , the distance measuring device 100 may further include a third mirror 11 , the third mirror 11 is used for passing the emitted pulsed laser light and projecting it to the target object. The third lens 11 can be installed on the third frame 12 , and the third frame 12 can be fixed on the circuit board 50 so that the third lens 11 is located above the laser emitting unit 10 . The optical axis X4 of the third lens 11 can be set to be perpendicular to the circuit board 50, and coincide with the optical axis X3 of the laser emitting unit 10; or, the optical axis X4 of the third lens 11 and the The optical axis X3 of the laser emitting unit 10 may not coincide, because in order to make the laser pitch angle slightly upward, the optical axis X4 of the third lens 11 can be set slightly higher than the optical axis X3 of the laser emitting unit 10 . The laser pulses emitted by the laser emitting unit 10 can be transmitted outward through the third lens 11 , and the third lens 11 can focus and collimate the laser pulses passing through it. For example, the optical axis X4 of the third lens 11 may be its central axis.

The above-mentioned first lens 21 , second lens 31 and third lens 11 may be lenses, and may be combined with more lenses. For example, the third lens 11 can 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 and transmit it outward; the second lens 31 can also be combined with one One or more lenses are combined into a lens group to focus and collimate the laser pulses reflected back by the target object before being sensed by the second receiving unit 30 . In addition, in the embodiment where the optical axis X1 of the first lens 21 and the optical axis X2 of the first receiving unit 20 are misaligned, the only first lens 21 can be arranged above the first receiving unit 20; The focal length of the first lens 21 may be less than or equal to 16 mm, such as 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 described above may be separate components from each other. Or, as shown in FIGS. 2 and 3 , the second frame 32 and the third frame 12 can be integrally formed components, and form a space for accommodating the first frame 22; thus, the first frame 22 can be Installed on this integrally formed component, and then this integrally formed component is installed on the circuit board 50 .

In some embodiments, as shown in Figure 3, the first receiving unit 20 may include a CMOS (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductor device) optical sensor or a CCD (Charge Coupled Device, charge coupled device) optical sensor ; In addition, the second receiving unit may include an avalanche photodiode (Avalanche Photo Diode, APD) or a fast photodiode (Fast Photo Diode). In the distance measuring device 100 of the present application, the reflected optical signal is focused through the first lens 21, and then projected onto the surface where the first receiving unit 20 of the CMOS or CCD optical sensor such as CMOS or CCD optical sensor is located on the focal distance behind the first lens 21. , the surface of the first receiving unit 20 is generally kept perpendicular to the optical axis of the first mirror 21; the reflected optical signal will generate a projection point on the surface of the first receiving unit 20; the projection can be obtained by converting the photoelectric signal through the first receiving unit 20 The point is located at the position coordinates of the imaging surface of the first receiving unit 20 . The CMOS or CCD optical sensor can convert the light image on the photosensitive surface into an electrical signal proportional to the light image through the photoelectric conversion function of the photoelectric device. The first receiving unit 20 can be arranged on the circuit board 50 by means of conductive connection such as welding, welding, etc. Of course, the first receiving unit 20 can also be connected with the circuit board 50 by any type of conductive connection, for example , Conductive adhesives, conductive rubber, spring contacts, flexible printed circuit boards, bonding wires or plug-in connections (THT), etc., or combinations thereof.

In some embodiments, as shown in FIG. 2 and FIG. 3 , the first receiving unit 20 and the second receiving unit 30 can be arranged on both sides of the laser emitting unit 10; correspondingly, the above-mentioned first frame 22 and the second frame 32 are also arranged on both sides of the third frame 12 . Since many radar products used in distance measuring devices have waterproof and dustproof requirements, it is necessary to configure a light-transmitting sealing cover outside the radar, and the sealing cover will have a refraction effect on the optical path, resulting in the attenuation of the light spot and the receiving signal. There is deformation, which generally produces the same effect as the cylindrical mirror effect, causing the spot to stretch horizontally and narrow vertically. Therefore, in this embodiment, by arranging the laser emitting unit 10 in the middle, the laser emitting unit 10 emits laser light from the middle, so that the stretching of the light spot is symmetrical and will not cause the center of mass of the light spot to be biased. The difference is that when the laser emitting unit 10 is set at an edge position, emitting the laser light from the edge will result in an asymmetric stretching of the light spot, thereby resulting in a deviation of the center of mass of the light spot.

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

In some embodiments, as shown in FIGS. 2 and 3 , the circuit board 50 can be a printed circuit board, which can include a substrate, and the substrate can be prepared from the following materials: Cu alloy, such as brass and bronze; stainless steel , in particular low-alloy stainless steel; magnesium alloys; aluminum; aluminum alloys, in particular wrought aluminum alloys, such as for example EN AW-6061, and the like. In addition, the substrate of the circuit board 50 can also be made of materials such as glass, glass ceramics or ceramics. When the substrate of the circuit board 50 is made of metal material, it can dissipate heat well and offset thermal tension.

The same circuit board 50 is used in the above embodiments, which can make the structure more compact and facilitate the installation and distance setting between 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 also be arranged on different circuit boards, so as to adapt to different structures Arrangement needs.

For example, please refer to FIG. 5 , which is a schematic plan view of a distance measuring device 100 provided in the second embodiment of the present application. Wherein, the distance measuring device 100 provided by this second embodiment is basically the same as the distance measuring device 100 provided by the first embodiment, the difference is: in this second embodiment, the laser emitting unit 10, the first receiving The unit 20 and the second receiving unit 30 are respectively arranged on the first circuit board 51 , the second circuit board 52 and the third circuit board 53 . 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 wires for signal transmission. By arranging different first circuit boards 51, second circuit boards 52 and third circuit boards 53, the positions of the laser emitting unit 10, the first receiving unit 20 and the second receiving unit 30 can be independently Setting; For example, the second circuit board 52 and/or the third circuit board 53 can be set higher than the first circuit board 51, so that the first receiving unit on the second circuit board 52 and/or the third circuit board 53 20 and/or the position of the second receiving unit 30 in the distance measuring device 100 is raised; or, the first circuit board 51, the second circuit board 52 and the third circuit board 53 can also be located on the same level .

In this second embodiment, the distance measuring device 100 may also include a first lens 21, a second lens 31 and a third lens 11 similar to those of the first embodiment, the first lens 21, the second lens 31 The relationship between the optical axes X1, X6 and X4 of the third lens 11 and the optical axes X2, X5 and X3 of the first receiving unit 20, the second receiving unit 30 and the laser emitting unit 10 can be related to the first Examples are set up in the same manner. In addition, as shown in FIG. 5 , the optical axis X1 of the first lens 21 may also 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 for keeping the first circuit board 51 , the second circuit board 52 and the third circuit board 53 relatively fixed. The installation structure 70 can be an integrated structure or a structure assembled from multiple components, 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 installation structure 70 is also used to install 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 provided in a third embodiment of the present application. Wherein, the distance measuring device 100 provided by this third embodiment is basically the same as the distance measuring device 100 provided by the first or second embodiment, the difference is: in this third embodiment, the laser emitting unit 10 and the The first receiving unit 20 is disposed on the fourth circuit board 54 , and the second receiving unit 30 is disposed on the third circuit board 53 . That is to say, the fourth circuit board 54 is equivalent 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 can be independent circuit boards, and can be connected by wires for signal transmission. By setting different fourth circuit boards 54 and third circuit boards 53, the position of the second receiving unit 30 can be set independently; for example, the third circuit board 53 can be set higher than the fourth circuit board 54, Therefore, the position of the second receiving unit 30 on the third circuit board 53 in the distance measuring device 100 is elevated; or, the fourth circuit board 54 and the third circuit board 53 may also be located at the same level.

Further, the distance measuring device 100 may further include a mounting structure 70, and the mounting structure 70 keeps the fourth circuit board 54 and the third circuit board 53 relatively fixed. The installation structure 70 in the third embodiment may be similar to the installation structure 70 in the second embodiment, so it will not be repeated herein.

Please refer to FIG. 7 , which is a schematic plan view of a distance measuring device 100 provided in a fourth embodiment of the present application. Wherein, the distance measuring device 100 provided by this fourth embodiment is basically the same as the distance measuring device 100 provided by the first, second or third embodiment, the difference is: in this fourth embodiment, the laser emitting The unit 10 and the second receiving unit 30 are arranged on the fifth circuit board 55 , and the first receiving unit 20 is arranged on the second circuit board 52 . That is to say, the fifth circuit board 55 is equivalent 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 can be independent circuit boards, and can be connected by wires for signal transmission. By arranging different fifth circuit boards 55 and second circuit boards 52, the position of the first receiving unit 20 can be set independently; for example, the second circuit board 52 can be set higher than the fifth circuit board 55, Therefore, the position of the first receiving unit 20 on the second circuit board 52 in the distance measuring device 100 is elevated; or, the fifth circuit board 55 and the second circuit board 52 may also be located at the same level.

Further, the distance measuring device 100 may further include a mounting structure 70, and the mounting structure 70 keeps the fifth circuit board 55 and the second circuit board 52 relatively fixed. The installation structure 70 in the fourth embodiment may be similar to the installation structure 70 in the second embodiment or the third embodiment, and will not be repeated herein.

In addition, in the distance measuring device 100 of the above-mentioned second embodiment to the fourth embodiment, the different circuit boards may be arranged parallel to each other. For example, the first circuit board 51 , the second circuit board 52 and the third circuit board 53 can be installed and arranged parallel to each other through the installation structure 70 .

Alternatively, in the distance measuring device 100 of the above-mentioned second embodiment to the fourth embodiment, at least two of the different circuit boards are arranged to be non-parallel. For example, the second circuit board 52 or the third circuit board 53 can be installed through the installation structure 70 so as not to be parallel to the first circuit board 51 . Wherein, in one embodiment, the first lens 21, the first receiving unit 20 and the second circuit board 52 are all arranged to be inclined relative to the first circuit board 51, so that the optical axis of the first lens 21 X1 intersects the optical axis X3 of the laser emitting unit 10, the optical axis X1 of the first lens 21 passes through and is perpendicular to the receiving surface of the first receiving unit 20, and the optical axis X1 of the first lens 21 passing through and perpendicular to the second circuit board 52 . For example, the optical axis X1 of the first lens 21 can coincide with the optical axis X2 of the first receiving unit 20; Within the range of 3 degrees to 30 degrees, for example, 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, etc. can be used. This arrangement can also maximize the use of the sensor target surface of the first receiving unit 20 .

Further, in the distance measuring device 100 of the above-mentioned second embodiment to the fourth embodiment, it may also include the above-mentioned computing unit 40, and the computing unit 40 is configured to receive the first signal and the second signal The distance is calculated and determined according to the triangulation ranging principle and the time-of-flight principle respectively. The calculation unit 40 can be similar to the calculation unit in the first embodiment, the difference is that: the calculation unit 40 can be connected with all the circuit boards in one of the second embodiment to the fourth embodiment, so as to realize signal transmission, control, etc. In addition, the computing 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 can be arranged in a straight line. In some other embodiments, one of the first receiving unit 20 and the second receiving unit 30 can be set up and down with the laser emitting unit 10, and the first receiving unit 20 and the second receiving unit The other one of 30 is arranged around 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 device 100 provided in the fifth embodiment of the present application. Wherein, the distance measuring device 100 provided by this fifth embodiment is basically the same as the distance measuring device 100 provided in the first to fourth embodiments; for example, the laser emitting unit 10 and the first receiving unit 20 in the fifth embodiment and the second receiving unit 30 are all arranged on the same circuit board 50; or, at least two of the laser emitting unit 10, the first receiving unit 20 and the second receiving unit 30 are arranged on different circuits or, when different circuit boards are used, the different circuit boards are set to be parallel to each other, or at least two of the different circuit boards are set to be non-parallel; or, the distance measuring device 100 also A calculation unit 40 is included, and the calculation unit 40 is used for receiving the first signal and the second signal and performing distance calculation and determination according to the triangulation ranging principle and the time-of-flight principle respectively. The difference between this fifth embodiment and the distance measuring device 100 provided by the first to fourth embodiments is that: in this fifth embodiment, the first receiving unit 20 can be arranged above the laser emitting unit 10, The second receiving unit 30 may be disposed on the left side of the laser emitting unit 10 .

In some 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 on 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 on the left or right of the laser emitting unit 10 .

It is pointed out here that arranging the first receiving unit 20 such as a CMOS optical sensor or a CCD optical sensor above and below the laser emitting unit 10 has the following beneficial effects. First, because the distance measuring device 100 is arranged in the light-transmitting cover, the light-transmitting cover will cause the light spot to be stretched in the horizontal direction and the light spot hit on the obstacle will be split, which will affect the extraction accuracy and increase the calculation error; thus , placing the first receiving unit 20 and the laser emitting unit 10 in a vertical manner makes the calculation of the laser centroid change from the horizontal direction to the vertical direction, so that it is not affected by the spot split by obstacles. Second, placing the first receiving unit 20 and the laser emitting unit 10 in a vertical manner can more effectively avoid the problem of multipath reflection; The straight line of the optical axis of 20 is not parallel to the horizontal plane, so the first reflected light rays formed by the light emitted by the laser emitting unit 10 encountering obstacle surfaces at different distances will always remain at the fixed height of the image sensor of the first receiving unit 20 and the second reflected light produced by multipath, most of them will be more difficult to pass through the optical axis of the first receiving unit 20 for imaging; The information reflected by other multipaths can also be effectively filtered by detecting the information on a specific line.

In addition, since the related structure of triangulation distance measurement requires a certain baseline height, vertical placement of the first receiving unit 20 such as a CMOS optical sensor or a CCD optical sensor and the laser emitting unit 10 will result in a relatively high structural height, which is for some specific The use case (for example, when applied to a robot vacuum) has structural appearance effects. In the embodiment of the present application, the height can be reduced through a reflective structure design, and details can be referred to as follows.

For example, please refer to FIG. 10 , which is a schematic plan view of a distance measuring device 100 provided in a sixth embodiment of the present application. Wherein, the distance measuring device 100 provided by the sixth embodiment is basically the same as the distance measuring device 100 provided in the first to fifth embodiments; for example, the distance measuring device 100 further includes a computing unit 40, and the computing unit 40 The method is to receive the first signal and the second signal and perform distance calculation and determination according to the triangulation ranging principle and the time-of-flight principle respectively. The difference between this sixth embodiment and the distance measuring device 100 provided by the first to fifth embodiments is that: in this sixth embodiment, the distance measuring device 100 further includes a reflector 73, and the reflector 73 is used for The pulsed laser light reflected from the target object is reflected to at least one of the first receiving unit 20 and the second receiving unit 30 .

By providing the reflecting mirror 73, the installation positions of the first receiving unit 20 and the second receiving unit 30 can be set more flexibly. For example, one of the first receiving unit 20 and the second receiving unit 30 is arranged around the laser emitting unit 10; the other of the first receiving unit 20 and the second receiving unit 30 is arranged 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. One. In the embodiment shown in FIG. 10 , the second receiving unit (see the second receiving unit 30 in FIG. 8 ) can be arranged on the left and right side of the laser emitting unit 10; the first receiving unit 20 can be arranged on the laser emitting unit behind the unit 10 , and the mirror 73 reflects the pulsed laser light reflected from the target object to the first receiving unit 20 .

As shown in Figure 10, the two components represented by dotted lines are the first receiving unit 20 and the first mirror 21 that need to be provided when the reflector 73 is not used, which is actually equivalent to the one shown in Figure 8 and Figure 9 structure. However, in this sixth embodiment, by setting 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; It is set at other positions in the distance measuring device 100 .

Further, in this sixth embodiment, the other one of the first receiving unit 20 and the second receiving unit 30 can be placed vertically or inclined. For example, when the reflector 73 reflects the pulsed laser light reflected from the target object to the first receiving unit 20, the first receiving unit 20 is arranged behind the laser emitting unit 10, and The first receiving unit 20 is placed vertically or inclined.

Further, in the sixth embodiment, the first receiving unit 20 or the second receiving unit 30 arranged on the left and right sides of the laser emitting unit 10 may be arranged on the same circuit board as the laser emitting unit 10 on or set on a different circuit board. It is easy to understand that, due to the front-to-back arrangement, the first receiving unit 20 or the second receiving unit 30 and the laser emitting unit 10 arranged behind the laser emitting unit 10 need to be arranged on different circuit boards. superior.

Please refer to FIG. 11 , which is a schematic cross-sectional view of a distance measuring device 100 provided by a seventh embodiment of the present application. The distance measuring device 100 in this embodiment may be substantially the same as the distance measuring device 100 shown in FIGS. 2 to 4 , the difference being that the direction of the optical axis X1 of the first mirror 21 in FIG. 11 is changed. Specifically, the first lens 21 is arranged to be inclined relative to the circuit board 50, so that the optical axis X1 of the first lens 21 is equal to the optical axis X2 of the first receiving unit 20 and the optical axis X3 of the laser emitting unit 10. intersect, 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 can intersect with 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 X2 of the receiving unit 20 intersects with the optical axis X3 of the laser emitting unit 10 can be, for example, in the range of 3 degrees to 30 degrees, for example, it can be 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees degrees, 25 degrees, 30 degrees, etc. This arrangement can also maximize the use of the sensor target surface of the first receiving unit 20 . It is pointed out here that the distinguishing features of this seventh embodiment are also applicable to the embodiments shown in FIGS. 5 to 10 .

Please refer to FIG. 12 , which is a schematic cross-sectional view of a distance measuring device 100 provided in an eighth embodiment of the present application. The distance measuring device 100 in this embodiment can be substantially the same as the distance measuring device 100 shown in FIGS. Both X2 directions have changed. Specifically, the first lens 21 and the first receiving unit 20 are both arranged to be inclined relative to the circuit board 50, so that the optical axis X1 of the first lens 21 intersects the optical axis X3 of the laser emitting unit 10, And the optical axis X1 of the first lens 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 can coincide with the optical axis X2 of the first receiving unit 20; Within the range of 3 degrees to 30 degrees, for example, 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, etc. can be used. This arrangement can also maximize the use of the sensor target surface of the first receiving unit 20 . It is pointed out here that the distinguishing features of this eighth embodiment are also applicable to the embodiments shown in FIGS. 5 to 10 .

Please refer to FIG. 13 , which is a schematic cross-sectional view of a distance measuring device 100 provided in the ninth embodiment of the present application. The distance measuring device 100 in this embodiment can be substantially the same as the distance measuring device 100 shown in FIGS. . Specifically, in the embodiment shown in FIG. 13, the third frame 12 can be installed on the circuit board 50 as a main body frame, and the first frame 22 and the second frame 32 are installed on the third frame respectively. frame 12 on. For example, the first frame 22 can be provided with external threads, so that it can be rotatably installed in the threaded hole of the third frame 12; the second frame 32 can have an insertion portion or an engaging portion, so that it can be inserted into the third frame 12 or connected with the corresponding joint of the third frame 12. Said way can facilitate the adjustment of the first eyeglass 21 and the second eyeglass 31; 12 for separation, the relative position of the first lens 21 and the first receiving unit 20 and the relative position of the second lens 31 and the second receiving unit 30 can be adjusted during installation, and then fixed by an adhesive such as glue after adjustment . It is pointed out here that the distinguishing features of this ninth embodiment are also applicable to the embodiments shown in FIGS. 5 to 10 .

In the ranging device 100 provided in the embodiment of the present application, because the TOF ranging method has the characteristics of high long-distance accuracy and low short-distance accuracy, while the triangular ranging method has high short-distance accuracy and poor long-distance accuracy, so by combining The advantages of TOF distance measurement and triangulation distance measurement make the distance measurement device 100 of the present application suitable for long and short distance measurement, and the measurement accuracy is relatively high. In addition, the distance measuring device 100 provided by the embodiment of the present application can also make the structure more compact while taking into account the long and short distance measurement.

Please refer to FIG. 14 and FIG. 15 , which are respectively a three-dimensional schematic diagram and a three-dimensional exploded schematic diagram of a lidar 200 provided by the embodiment of the present application. As shown in FIG. 14 and FIG. 15 , the lidar 200 may mainly include any of the distance measuring devices 100 described above, and a rotating pan-tilt 60 .

The rotating head 60 may include a base 61, a rotating base 62, a transmission mechanism 63 and a driving device 64, the rotating base 62 is rotatably mounted on the base 61, and the driving device 64 is mounted on the base seat 61 , the transmission mechanism 63 is connected to the rotating seat 62 and the driving device 64 , and the distance measuring device 100 is arranged on the rotating seat 62 .

Wherein, the laser emitting unit 10 of the distance measuring device 100 is used to emit the optical signal of the laser, the first receiving unit 20 and the second receiving unit 30 are used to receive the optical signal reflected by the target to be measured, and transmit the optical signal through the circuit board 50 is input into the calculation unit 40, the calculation 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 rotating base 62, and the driving device 64 is used for outputting power so that the rotating base 62 rotates around Axis rotation. Therefore, by setting the rotating pan-tilt 60 , the 360° scanning operation of the laser radar 200 can be realized.

Further, the swivel head 60 also includes a baffle 65 . The base 61 is provided with a receiving groove, and the rotating base 62 is rotatably installed on the base 61 and covers a part of the receiving groove. The rotating base 62 can rotate around the axis of rotation relative to the base 61, and the mounting part of the rotating base 42 can pass through the bearing 6201 is rotatably installed on the base 41; the baffle plate 65 is installed on the base 61 and covers another part of the storage tank, that is, the swivel seat 62 and the baffle plate 65 are jointly covered on the notch of the storage tank to prevent External debris enters the storage tank from the notch of the storage tank. The driving device 64 is installed on the side of the base 61 facing away from the storage tank. The transmission mechanism 63 is connected to the rotating base 62 and the driving device 64 , and the transmission mechanism 63 is stored in the storage tank. Through the above configuration, it is possible to prevent external debris from entering the storage tank and affecting the operation of the transmission mechanism 63 , thereby avoiding the phenomenon that the laser radar 200 cannot work normally due to external debris.

In some embodiments, as shown in FIG. 14 and FIG. 15 , the swivel head 60 further includes a cover body 66 , the cover body 66 is covered on the swivel base 62 and is fixedly connected with the swivel base 62 , and the distance measuring device 100 is housed in the cover body 66 interior. The cover body 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 respectively correspond to the first receiving unit 20 and the second receiving unit 30, The third through hole 663 can correspond to the laser emitting unit 10, the third through hole 663 is used to allow the optical signal emitted by the laser emitting unit 10 to exit the inside of the cover 66, and the first through hole 661 is used to allow the light signal reflected back by the target to be measured. The light signal enters the inside of the cover 66 and is received by the first receiving unit 20 , and the second through hole 662 is used to allow the light signal reflected by the target to be measured to enter the inside of the cover 66 and be received by the second receiving unit 30 . Or, the cover body 66 can be a closed structure, that is, the above-mentioned first through hole 661, second through hole 662 and third through hole 663 are not provided, but a solid structure that can pass through the laser is used; like this, it can prevent Contaminants enter the enclosure 66 .

In some embodiments, the lidar 200 may further include a control board, the control board is electrically connected to the laser emitting unit 10, the circuit board 50 and the driving device 64, and the control board may be used to drive the laser emitting unit 10 to emit laser light. The signal is transmitted through the circuit board 50 , and the rotation of the rotating seat 62 is controlled by the driving device 64 . Alternatively, the control board and the circuit board 50 can be integrated into a single circuit board.

The embodiment of the present application further provides a mobile robot, the mobile robot includes the laser radar 200 provided in any one of the above embodiments.

It should be noted that the description of the application and its accompanying drawings give the preferred implementation of the application, but the application can be implemented in many different forms, and is not limited to the implementation described in this specification. These implementations are not intended to limit the content of the present application, and the purpose of providing these implementations is to make the understanding of the disclosure of the application more thorough and comprehensive. Moreover, the above-mentioned technical features continue to be combined with each other to form various implementations not listed above, all of which are considered to be within the scope of the description of this application; furthermore, those of ordinary skill in the art can make improvements or changes based on the above descriptions , and all these improvements and transformations should belong to the scope of protection of the appended claims of this application.

Claims (22)

1. A distance measuring device, characterized in that it comprises:

   A laser emitting unit (10), the laser emitting unit (10) is used to emit pulsed laser light to the target object to be range-measured;

   A first receiving unit (20), the first receiving unit (20) is used to receive the pulsed laser light reflected from the target object, and generate a corresponding first signal; the first signal is used according to triangulation distance calculations and determinations from the principle; and

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

   Wherein, at least two of the laser emitting unit (10), the first receiving unit (20) and the second receiving unit (30) are arranged on different circuit boards.
2. The distance measuring device according to 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 the first circuit board (51), the second circuit board (52) and the third circuit board plate (53).
3. The distance measuring device according to claim 2, characterized in that:

   The distance measuring device also includes a mounting structure (70), and the mounting structure (70) keeps the first circuit board (51), the second circuit board (52) and the third circuit board (53) relatively fixed.
4. The distance measuring device according to 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. The distance measuring device according to claim 4, characterized in that:

   The distance measuring device further includes a mounting structure (70), and the mounting structure (70) keeps the fourth circuit board (54) and the third circuit board (53) relatively fixed.
6. The distance measuring device according to claim 1, characterized in that:

   The laser emitting unit (10) and the second receiving unit (30) are arranged on the fifth circuit board (55), and the first receiving unit (20) is arranged on the second circuit board (52) .
7. The distance measuring device according to claim 6, characterized in that:

   The distance measuring device also includes a mounting structure (70), and the mounting structure (70) keeps the fifth circuit board (55) and the second circuit board (52) relatively fixed.
8. The distance measuring device according to claim 1, characterized in that:

   The different circuit boards are arranged parallel to each other; or, at least two of the different circuit boards are arranged not parallel.
9. The distance measuring device according to any one of claims 1-8, characterized in that:

   The distance measuring device also includes a calculation unit (40), the calculation unit (40) is used to receive the first signal and the second signal and perform distance calculation and determination according to the principle of triangulation distance measurement and the principle of time of flight respectively .
10. A distance measuring device, characterized in that it comprises:

    A laser emitting unit (10), the laser emitting unit (10) is used to emit pulsed laser light to the target object to be range-measured;

    A first receiving unit (20), the first receiving unit (20) is used to receive the pulsed laser light reflected from the target object, and generate a corresponding first signal; the first signal is used according to triangulation distance calculations and determinations from the principle; and

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

    Wherein, one of the first receiving unit (20) and the second receiving unit (30) is set up and down with the laser emitting unit (10), and the first receiving unit (20) and the second The other one of the receiving units (30) is arranged left and right with the laser emitting unit (10).
11. The distance measuring device according to claim 10, characterized in that:

    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. The distance measuring device according to claim 10, characterized in that:

    At least two of the laser emitting unit (10), the first receiving unit (20) and the second receiving unit (30) are arranged on different circuit boards.
13. The distance measuring device according to claim 12, characterized in that:

    The different circuit boards are arranged parallel to each other; or, at least two of the different circuit boards are arranged not parallel.
14. The distance measuring device according to any one of claims 10-13, characterized in that:

    The distance measuring device also includes a calculation unit (40), the calculation unit (40) is used to receive the first signal and the second signal and perform distance calculation and determination according to the principle of triangulation distance measurement and the principle of time of flight respectively .
15. A distance measuring device, characterized in that it comprises:

    A laser emitting unit (10), the laser emitting unit (10) is used to emit pulsed laser light to the target object to be range-measured;

    A first receiving unit (20), the first receiving unit (20) is used to receive the pulsed laser light reflected from the target object, and generate a corresponding first signal; the first signal is used according to triangulation Calculate and determine the distance based on the distance principle;

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

    a reflector (73), the reflector (73) is used to reflect the pulsed laser light reflected from the target object to the first receiving unit (20) and the second receiving unit (30) at least one.
16. The distance measuring device according to claim 15, characterized in that:

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

    The other one of the first receiving unit (20) and the second receiving unit (30) is arranged behind the laser emitting unit (10), and the reflector (73) will reflect the target object The reflected pulsed laser light is reflected to the other one of the first receiving unit (20) and the second receiving unit (30).
17. The distance measuring device according to claim 16, characterized in that:

    The other one of the first receiving unit (20) and the second receiving unit (30) is placed vertically or obliquely.
18. The distance measuring device according to claim 16, characterized in that:

    The one of the first receiving unit (20) and the second receiving unit (30) and the laser emitting unit (10) are arranged on the same circuit board or on different circuit boards.
19. The distance measuring device according to any one of claims 15-18, characterized in that:

    The distance measuring device also includes a calculation unit (40), the calculation unit (40) is used to receive the first signal and the second signal and perform distance calculation and determination according to the principle of triangulation distance measurement and the principle of time of flight respectively .
20. A laser radar, is characterized in that, comprises:

    The distance measuring device (100) according to any one of claims 1-19; and

    Rotary cloud platform (60), described rotary platform (60) comprises base (61), rotating base (62), transmission mechanism (63) and driving device (64), and described rotating base (62) is rotatable Installed on the base (61), the driving device (64) is installed on the base (61), the transmission mechanism (63) connects the rotating seat (62) and the driving device (64), so The distance measuring device (100) is arranged on the rotating seat (62).
21. The lidar according to claim 20, characterized in that:

    The rotating platform (60) also includes a cover body (66), and the cover body (66) is a solid structure capable of transmitting laser light.
22. A mobile robot, characterized by comprising the laser radar (200) according to claim 20 or 21.

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