WO2021134689A1 - Distance measuring apparatus and distance measuring system - Google Patents

Abstract

A distance measuring apparatus (100) and a distance measuring system (1000). The distance measuring apparatus (100) comprises an optical emitter (10), an optical receiver (20), an optical structure (30), a light shield member (70), and a light constraint (80). The light shield member (70) is used for shielding stray light and allowing a light beam on a receiving light path to pass through; the light constraint (80) is used for reducing the size of a light beam of a first light pulse (300).

Description

Ranging device and ranging system Technical field

This application relates to the technical field of distance measuring equipment, and in particular to a distance measuring device and a distance measuring system.

Background technique

The working principle of distance measuring devices such as lidar is to first transmit the detection light pulse to the detection object, and then receive the reflected light pulse reflected from the detection object. Finally, the distance measuring device compares the detection light pulse and the reflected light pulse and processes them appropriately. You can get the relevant feature information of the probe, such as the distance, azimuth, attitude, speed, height and other parameter information of the probe. However, during the operation of the distance measuring device, since the distance measuring device itself reflects and scatters the light beam, disordered stray light is generated inside the distance measuring device. If the stray light enters the optical receiver of the ranging device, it will interfere with the normal operation of the ranging device and reduce the measurement accuracy of the ranging device.

Summary of the invention

Based on this, the present application provides a distance measuring device and a distance measuring system, which aim to reduce the stray light reaching the optical receiver and improve the measurement accuracy of the distance measuring device.

According to the first aspect of the present application, the present application provides a distance measuring device, which includes: an optical transmitter arranged in the transmitting optical path for generating a first light pulse; an optical receiver arranged in the receiving optical path for Receiving a second light pulse, where the second light pulse is a light pulse formed after the first light pulse is reflected by a probe; an optical structure for guiding the first light pulse emitted by the light emitter To the detection object, and guide at least part of the second light pulses reflected by the detection object to the light receiver; a light confinement member, the light emitter, the light confinement member, and the optical The structures are arranged in sequence along the emission light path; the light confinement member is used to confine the first light pulse generated by the light emitter to reduce the beam size of the first light pulse passing through the light confinement member; The optical structure, the light restraint, and the light receiver are arranged in sequence along the receiving light path; the light shielding member is used to block stray light and allow the light beam of the receiving light path to pass through; the stray light is The light receiver receives scattered light or reflected light from a direction outside the receiving optical path.

According to the second aspect of the present application, the present application provides a distance measuring system, including: a housing; and the above-mentioned distance measuring device, which is provided on the housing.

The embodiments of the present application provide a distance measuring device and a distance measuring system. The stray light reaching the light receiver can be reduced as much as possible through the light restraining member and the light shielding member, so that the light beam of the receiving optical path can be reliably received by the light receiver and effectively protected The optical receiver prevents stray light from interfering with the normal operation of the ranging device, thereby improving the measurement accuracy of the ranging device.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of a ranging system provided by an embodiment of the present application;

2 is a schematic structural diagram of a distance measuring device provided by an embodiment of the present application;

3 is a schematic cross-sectional view of a distance measuring device provided by an embodiment of the present application;

4 is a schematic diagram of optical path folding of the first light pulse and the second light pulse provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of the optical path expansion of the first light pulse and the second light pulse provided by an embodiment of the present application;

FIG. 6 is an exploded schematic diagram of a distance measuring device provided by an embodiment of the present application;

FIG. 7 is a schematic structural view of a light-shielding member provided by an embodiment of the present application at an angle;

FIG. 8 is a schematic structural diagram of a light-shielding member provided at another angle according to an embodiment of the present application;

FIG. 9 is a schematic cross-sectional view of a shading member provided by an embodiment of the present application;

10 is a schematic diagram of the optical receiver of the distance measuring device provided by an embodiment of the present application when sensing a second light pulse, wherein the distance measuring device is not provided with a light shield;

11 is a schematic diagram of the optical receiver of the distance measuring device according to an embodiment of the present application when sensing a second light pulse, wherein the distance measuring device is provided with a light shield;

FIG. 12 is a schematic structural diagram of a shading member provided by an embodiment of the present application, in which the second light pulse passes through the shading member;

13 is a schematic partial cross-sectional view of a distance measuring device provided by an embodiment of the present application, in which a light shield and a light receiver are shown, and the second light pulse is transmitted to the light receiver through the light shield;

14 is a schematic diagram of a part of the structure of a distance measuring device provided by an embodiment of the present application at an angle, which shows the transmitting bracket and the light restraining member;

15 is a partial structural diagram of the distance measuring device provided by an embodiment of the present application at another angle, which shows the transmitting bracket and the light restraint;

FIG. 16 is a schematic diagram of a partial light path of the first light pulse provided by an embodiment of the present application, in which the light restricting member is not provided to restrict the first light pulse;

FIG. 17 is a schematic diagram of a light emitter emitting a first light pulse according to an embodiment of the present application, wherein a light confinement member is provided to confine the first light pulse;

18 is a schematic diagram of a partial structure of a distance measuring device provided by an embodiment of the present application at an angle, in which the first light pulse passes through the light channel;

FIG. 19 is a schematic diagram of a partial structure of a distance measuring device provided by an embodiment of the present application, in which the first optical pulse passes through the optical channel;

20 is a schematic diagram of a partial structure of the distance measuring device provided by an embodiment of the present application at another angle, in which the first light pulse passes through the light channel;

Fig. 21 is a partial enlarged schematic diagram of the distance measuring device in Fig. 3 at A.

Description of reference signs:

1000. Ranging system;

100. Ranging device;

10. Optical transmitter; 20. Optical receiver;

30. Optical structure;

31. Optical element; 32. Optical component; 33. Collimation element; 34. Optical device;

41. The first substrate; 42, the second substrate;

50. Connection structure; 51. Transmitting bracket; 52. Receiving bracket; 53, Optical bracket; 531. First sub-frame; 532. Second sub-frame; 533. Collimation sub-frame; 534. Third sub-frame. ；

61. Base; 62. Cover;

70. Shading member; 71. Shading part; 72. Light channel part; 721. First sub-channel; 722. Second sub-channel;

80. Optical restraint; 81, light passage; 82, first restraint part; 821, connecting section; 822, restraint section; 83, second restraint part, 831, connecting subsection; 832, restraining subsection; 8321 Sub-part body; 8322, first connection surface; 8323, second connection surface; 833, extension sub-part; 84, connection part;

200, housing; 300, first light pulse; 400, second light pulse; 2000, probe.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should also be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

It should be further understood that the term "and/or" used in the specification and appended claims of this application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

The inventor of the present application found that the core principle of a distance measuring system such as a laser distance measuring device is that after the laser beam is emitted according to a pre-designed optical path, the beam is reflected back after irradiating the detection object, and then transmitted to the optical path according to the designed optical path. In the optical receiver. However, even if the optical path completely complies with the pre-design, the transparent optical lens and other optical components in the distance measuring system have a certain reflectivity, which will reflect and scatter the light beam, resulting in a lot of unwanted stray light inside the distance measuring device. If these stray light enter the optical receiver of the ranging system, it will interfere with the normal operation of the ranging system and reduce the measurement accuracy and range of the ranging system.

In response to this finding, the embodiments of the present application improve the distance measuring device to reduce stray light reaching the optical receiver and avoid stray light from interfering with the normal operation of the distance measuring device, thereby improving the measurement accuracy and range of the distance measuring device. Specifically, an embodiment of the present application provides a distance measuring device, including: an optical transmitter, which is arranged in the transmitting optical path, and is used to generate a first light pulse; an optical receiver, which is arranged in the receiving optical path, and is used to receive the second light. Pulse, wherein the second light pulse is the light pulse formed after the first light pulse is reflected by the probe; the optical structure is used to guide the first light pulse emitted by the light emitter to the detection And guide at least part of the second light pulses reflected by the probe to the light receiver; a light confinement part, the light emitter, the light confinement part, and the optical structure along the The emission light paths are arranged in sequence; the light confinement member is used to confine the first light pulse generated by the light emitter to reduce the beam size of the first light pulse passing through the light confinement member; the light blocking member, the The optical structure, the light confinement member, and the light receiver are arranged in sequence along the receiving light path; wherein the light shielding member is used to block stray light and allow the light beam of the receiving light path to pass through; the stray light is The light receiver receives scattered light or reflected light from a direction outside the receiving optical path.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

An embodiment of the present application provides a ranging system 1000, which can be used to determine the distance and/or direction of the probe 2000 relative to the ranging system 1000. The distance measurement system 1000 may be electronic equipment such as laser distance measurement equipment and lidar. In some embodiments, the ranging system 1000 may be used to sense external environment information. The external environment information may be at least one of distance information, azimuth information, speed information, and reflection intensity information of the environmental target.

In some embodiments, the ranging system 1000 may be mounted on a carrier and used to detect the probe 2000 around the carrier. The distance measurement system 1000 is specifically used to detect the distance between the probe 2000 and the distance measurement system 1000. The carrier may include any suitable carrier such as unmanned aerial vehicles, mobile robots, mobile vehicles, and mobile ships. Understandably, one carrier can be equipped with one or more ranging systems 1000, and different ranging systems 1000 can be used to detect objects in different orientations.

In some embodiments, the distance measurement system 1000 can detect the probe 2000 and the distance measurement by measuring the time of light propagation between the distance measurement system 1000 and the probe 2000, that is, the time-of-flight (TOF). The distance between systems 1000. Understandably, the ranging system 1000 can also detect the distance between the probe 2000 and the ranging system 1000 through other technologies, such as a ranging method based on frequency shift measurement, or based on phase shift. There are no restrictions on the distance measurement method of the measurement. The distance and/or azimuth detected by the ranging system 1000 can be used for remote sensing, obstacle avoidance, surveying and mapping, modeling, navigation, and the like.

In some embodiments, the ranging system 1000 may be mounted on a carrier, which may include any suitable carrier such as an unmanned aerial vehicle, a movable robot, a movable vehicle, a movable ship, etc., for detecting detection around the carrier.物2000. The detection object 2000 may be an obstacle or a target of interest, and the ranging system 1000 may be specifically used to detect the distance between the detection object 2000 and the ranging system 1000.

Please refer to FIG. 1 and FIG. 2, where the distance measuring system 1000 includes a housing 200 and a distance measuring device 100 provided on the housing 200. Specifically, the housing 200 is formed with a cavity, and at least part of the distance measuring device 100 is housed in the cavity to reduce the influence of the external environment on the distance measuring device 100, for example, to reduce the influence of water vapor, dust, stray light, etc. on the distance measuring device 100. influences. The distance measuring device 100 is used to transmit or generate light pulses to the probe 2000, receive the light pulses reflected by the probe 2000, and determine the distance between the probe 2000 and the distance measurement system 1000 based on the reflected light pulses.

Referring to FIGS. 2 to 4, in some embodiments, the distance measuring device 100 includes a light transmitter 10, a light receiver 20 and an optical structure 30. The light transmitter 10 is arranged in the light emitting path and is used to generate the first light pulse 300. The optical receiver 20 is arranged in the receiving optical path and is used to receive the second optical pulse 400. The second light pulse 400 refers to the light pulse formed after the first light pulse 300 is reflected by the probe 2000. At least part of the optical structure 30 is located on the transmitting light path; and at least part of the optical structure 30 is located on the receiving light path, for separating the first light pulse 300 and the second light pulse 400.

Please refer to FIG. 4, specifically, the first light pulse 300 is emitted by the light emitter 10 and guided to the probe 2000 through the optical structure 30, so as to emit the first light pulse 300 to the probe 2000. After the first light pulse 300 reaches the probe 2000, it can be reflected on the surface of the probe 2000. The light pulse formed after the first light pulse 300 is reflected by the probe 2000 is called the second light pulse 400. Part of the second light pulse 400 may reach the optical structure 30 and be guided by the optical structure 30 to the light receiver 20, and the light receiver 20 receives the second light pulse 400 and generates an electrical signal. After the first light pulse 300 is emitted from the light emitter 10, the light path that reaches the probe 2000 through at least a part of the optical structure 30 is the emission light path. The first light pulse 300 is reflected by the detection object 2000 to form a second light pulse 400, and the light path through which the second light pulse 400 reaches the light receiver 20 through at least part of the optical structure 30 is the receiving light path.

The light transmitter 10 can emit light pulses, that is, generate a first light pulse 300. The first light pulse 300 may be a single light pulse or a series of light pulses. The optical transmitter 10 may be a semiconductor laser, a fiber laser, or the like. Exemplarily, the light emitter 10 may include at least one of a light emitting diode (Light Emitting Diode, LED), a laser diode (Laser Diode, LD), a semiconductor laser array, and the like. The semiconductor laser array may be, for example, a VCSEL (Vertical Cavity Surface Emitting Laser) array or multiple laser diode arrays. In some embodiments, a plurality of laser diode arrays form a multi-line light emitter 10, so that the light emitter 10 can emit multiple first light pulses at the same time.

The light receiver 20 includes at least one of a photodiode, an avalanche photodiode (APD), a Geiger-mode avalanche photodiode (GM-APD), a charge coupled device, and the like.

In some embodiments, the light transmitter 10 may generate the first light pulse 300 at the nanosecond (ns) level. Exemplarily, the light transmitter 10 can generate a laser pulse with a duration close to 8 ns, and the light receiver 20 can detect a return signal with a close duration, that is, the second light pulse 400.

Referring to FIGS. 3 to 6, in some embodiments, the optical structure 30 includes an optical element 31, an optical component 32 and a collimating element 33. Among them, the light emitter 10, the optical element 31, the optical component 32 and the collimating element 33 are arranged in sequence along the emission light path. That is, the light emitter 10, the optical element 31, the optical component 32 and the collimating element 33 are arranged in sequence along the transmission direction of the first light pulse 300.

The optical element 31 is used to change the direction of the light path of the first light pulse 300 generated by the light transmitter 10. In some embodiments, the optical element 31 may include a mirror. The reflective surface of the optical element 31 is arranged facing the light emitter 10 so that the first light pulse 300 generated by the light emitter 10 can reach the optical element 31. The optical element 31 is arranged between the light emitter 10 and the optical component 32 along the emission light path. The optical element 31 can change the optical path direction of the first light pulse 300 generated by the light emitter 10. The first light pulse 300 reaching the optical element 31 can reach the optical component 32 after being reflected by the optical element 31.

Among them, the optical component 32 is used to separate the first light pulse 300 and the second light pulse 400. Specifically, the optical component 32 is disposed between the optical component 31 and the collimating component 33 along the emission light path, and the collimating component 33 is disposed on the side of the optical component 32 away from the optical component 31.

In some embodiments, the optical component 32 includes at least one of an apertured mirror, a half mirror, a polarization beam splitter, and a beam splitter using a coating method. The optical component 32 is used to transmit the first light pulse 300 after the optical path direction is adjusted by the optical element 31 on the one hand, and on the other hand to reflect the second light pulse 400 converged by the collimating element 33. Specifically, the optical component 32 includes a light-transmitting area for the first light pulse 300 to pass through and a reflective area for reflecting the second light pulse 400. The light-transmitting area and the reflective area can be any suitable structure, for example, the light-transmitting area is a structure such as a hole structure or glass, and the first light pulse 300 can pass through the light-transmitting area of the optical component 32 or on the light-transmitting area of the optical component 32 Refraction occurs, so that the first light pulse 300 can be projected onto the collimating element 33 according to a preset light path.

Please refer to FIGS. 4 and 5 again, where the collimating element 33 is used to collimate the first light pulse 300. The first light pulse 300 can reach the detection object 2000 after being collimated by the collimating element 33. Specifically, the collimating element 33 is located on the emission light path. More specifically, the collimating element 33 is disposed on the side of the optical component 32 away from the optical element 31. The first light pulse 300 passing through the optical component 32 may be collimated by the collimating element 33. Specifically, the collimating element 33 can collimate the first light pulse 300 passing through the optical component 32 into a parallel light pulse or an approximately parallel light pulse. The collimated light pulse basically does not spread when the light propagates.

The collimating element 33 includes at least one of elements capable of collimating light pulses, such as a collimating lens, a concave mirror, or a microlens array. Specifically, the collimating element 33 can be designed as any optical component with collimating function according to actual needs, and can be, but not limited to, a collimating lens or a concave mirror. The collimating lens may include any one of the following: a single plano-convex lens, a single biconvex lens, a double plano-convex lens (such as a double cemented lens), and the like. Considering that the light emitter 10 of the photoelectric proximity sensor chip may be a semiconductor laser array (for example, a VCSEL (Vertical Cavity Surface Emitting Laser) array), the collimating element 33 may also be a micro lens array. It is understandable that the collimation effect will be better when the spacing between the microlenses of the microlens array is the same as the spacing between the lasers of the laser array. The collimating element 33 may also be composed of multiple lenses. For example, the collimating element 33 includes a concave lens and a convex lens. For another example, the collimating element 33 adopts a telescope structure, including a meniscus and a convex lens, which can better correct aberrations and obtain a collimated light sequence.

Please refer to FIG. 4 again. In some embodiments, the collimating element 33 is also used to converge at least part of the second light pulse 400 reflected back by the probe 2000 onto the optical component 32. That is, the transmitting light path and the receiving light path share the same collimating element 33 to reduce the cost and make the light path more compact, which facilitates the miniaturization of the product design. Specifically, the transmitting optical path and the receiving optical path adopt a coaxial optical path, that is, the first optical pulse 300 emitted by the optical transmitter 10 and the second optical pulse 400 received by the optical receiver 20 share the optical path between the optical component 32 and the collimating element 33, Therefore, the transmitting optical path and the receiving optical path can share the same collimating element 33. Compared with the off-axis optical path design, the distance measuring device 100 does not need to use two collimating elements 33 to respectively collimate and focus the first light pulse 300 and the second light pulse 400, and only one collimating element 33 is required. , Reduce the cost of raw materials. In addition, compared with the design of the off-axis optical path, the transmitting optical path and the receiving optical path of the coaxial optical path ranging device 100 can share at least part of the optical path, thereby making the optical path more compact and facilitating the miniaturization of the product.

In some embodiments, in order to ensure the range and measurement accuracy of the distance measuring device 100, the light-emitting surface of the light emitter 10 and/or the light-sensitive surface of the light receiver 20 should be located at, near, and at the focal point of the collimating element 33 as much as possible. On the plane or near the focal plane. Specifically, the light emitting surface of the light emitter 10 may be set on the focal point or on the focal plane. The light emitting surface of the light emitter 10 may also be arranged adjacent to the focal point or adjacent to the focal plane. The photosensitive surface of the light receiver 20 may be set on the focal point or on the focal plane. The photosensitive surface of the light receiver 20 may also be arranged adjacent to the focal point or adjacent to the focal plane. After the first light pulse 300 and the second light pulse 400 are processed by the optical structure 30, a folded light path is formed, that is, at least one of the transmitting light path and the receiving light path has a folded portion to reduce the size of the collimating element 33 in the optical axis direction, thereby Optimize product size to facilitate product miniaturization design.

Referring to FIG. 5, in some embodiments, after the folded light path is unfolded, that is, after the folded portions of the emitting light path and the receiving light path are unfolded, the light emitting surface of the light emitter 10 and the light receiving surface of the light receiver 20 are approximately located at the same optically. Location. In this way, it can be ensured that after the first light pulse 300 emitted by the light transmitter 10 is reflected by the probe 2000 to form the second light pulse 400, as much energy as possible can return to the distance measuring device 100 and enter the photosensitive surface of the light receiver 20. The more energy that returns from the surface of the probe 2000 and enters the photosensitive surface of the light receiver 20, and the farther the range of the distance measuring device 100 is, the higher the measurement accuracy. Wherein, the light-emitting surface of the light emitter 10 and the light-receiving surface of the light receiver 20 are approximately located at the same optical position, which means that after the folded light path is unfolded, as shown in FIG. 5, the light-emitting surface of the light emitter 10 and the light receiver 20 The light-sensing surface of both roughly coincides with the focal plane Φ of the collimating element 33; or both the light-emitting surface of the light emitter 10 and the light-sensing surface of the light receiver 20 pass roughly the focal point F of the collimating element 33.

Wherein, roughly coincident can mean that the angle between the light-emitting surface or the photosensitive surface and the focal plane Φ is 0°-6°, that is, the angle between the two is 0°, 6°, and any other suitable angle between 0°-6° . Of course, roughly coincident can mean that the light-emitting surface (or photosensitive surface) is parallel to the focal plane Φ, and the distance between the light-emitting surface (or photosensitive surface) and the focal plane Φ is 0mm-6mm, that is, the distance between the two is 0mm, 6mm And any other suitable distance between 0mm-6mm. Roughly passing through the focal point F of the collimating element 33, it can be pointed that the distance between the focal point F of the collimating element 33 and the light-emitting surface (or photosensitive surface) is 0mm-6mm, that is, the distance from the focal point F to the light-emitting surface (or photosensitive surface) is 0mm, 6mm, and any other suitable distances between 0mm-6mm.

Please refer to FIG. 3, FIG. 4 and FIG. 6 again. In some embodiments, the distance measuring device 100 further includes an optical device 34 for changing the optical path direction of the second light pulse 400 reflected by the reflection area of the optical component 32 . The collimating element 33, the optical component 32, the optical device 34 and the light receiver 20 are sequentially arranged along the reflection direction of the second light pulse 400. Specifically, the optical device 34 and the optical component 32 are provided on the same side of the collimating element 33. The optical element 31 and the optical device 34 are provided on opposite sides of the optical component 32. More specifically, the optical device 34, the optical component 32, the optical element 31, the light emitter 10, and the light receiver 20 are provided on the same side of the collimating element 33. The optical element 31 and the light emitter 10 are provided on the first side of the optical component 32, and the optical device 34 and the collimating element 33 are provided on the second side of the optical component 32. Wherein, the first side and the second side are arranged opposite to each other.

In some embodiments, the optical device 34 includes a mirror. The reflective surface of the optical device 34 is disposed facing the optical component 32 so that the second light pulse 400 reflected by the reflective area of the optical component 32 can reach the optical device 34. In addition, the reflective surface of the optical device 34 is disposed facing the light emitter 10 so that the second light pulse 400 reflected by the optical device 34 can reach the optical device 34. The optical device 34 is arranged between the optical component 32 and the light receiver 20 along the emission light path. The optical device 34 can change the direction of the light path of the second light pulse 400 generated by the light emitter 10. The second light pulse 400 reaching the optical device 34 can reach the optical receiver 20 after being reflected by the optical device 34.

In some embodiments, when the distance measuring device 100 is working, the light transmitter 10 emits a first light pulse 300. After the first light pulse 300 reaches the optical element 31, the optical element 31 changes the direction of the light path, that is, changes the first light pulse 300. The transmission direction. The first light pulse 300 whose light path direction is changed by the optical element 31 passes through the light-transmitting area of the optical component 32 and then is collimated by the collimating element 33, and the collimated first light pulse 300 is emitted and projected onto the probe 2000. The first light pulse 300 reaches the probe 2000 and is reflected by the probe 2000 to form a second light pulse 400. The second light pulse 400 is converged to the reflection area of the optical component 32 through the collimating element 33. The reflection area reflects at least a part of the second light pulse 400 to the optical device 34. The optical device 34 changes the direction of the light path, that is, changes the second light pulse. 400's transmission direction. The second optical pulse 400 whose optical path direction is changed by the optical device 34 reaches the optical receiver 20, and the optical receiver 20 receives the second optical pulse 400. Exemplarily, the receiving process may include converting the received second light pulse 400 into an electrical signal pulse. The distance measuring device 100 then determines the light pulse receiving time based on the rising edge of the electrical signal pulse. In this way, the distance measuring device 100 can calculate the flight time using the receiving time information of the second light pulse 400 and the sending time information of the first light pulse 300, so as to determine the distance between the probe 2000 and the distance measuring device 100. In addition, the direction of the probe 2000 relative to the distance measuring device 100 can also be determined according to light pulses in different directions.

In the distance measuring device 100 of the foregoing embodiment, the optical component 32 can realize the spatial separation of the first light pulse 300 and the second light pulse 400. The transmitting light path formed by the first light pulse 300 can be folded through the optical element 31, and the receiving light path formed by the second light pulse 400 can be folded through the optical device 34, effectively reducing the optical axis direction of the collimating element 33. The size of the product, making full use of optical characteristics and space in different directions for optical path design, so as to meet the requirements of a smaller volume, and further optimize the overall size of the product. In addition, the reduction in volume brought about by the folding of the light path of the transmitting light path and the receiving light path is also conducive to reducing the amount of thermal deformation of the distance measuring device 100 under high and low temperature conditions, and prevents optical components such as the light transmitter 10 and the light receiver 20 from being caused by Defocus occurs due to temperature changes, thereby enhancing the temperature reliability of the distance measuring device 100.

Referring to FIGS. 3 to 6, in some embodiments, the distance measuring device 100 further includes a first substrate 41 and a second substrate 42. The light emitter 10 is provided on the first substrate 41. The light receiver 20 is provided on the second substrate 42. The materials of the first substrate 41 and the second substrate 42 can be designed according to actual needs. For example, the first substrate 41 can be made of epoxy, ceramic, or HDI (High Density Interconnect) epoxy fiberglass cloth. to make.

Referring to FIGS. 3 to 6, in some embodiments, the distance measuring device 100 further includes a connection structure 50. The light transmitter 10, the light receiver 20 and the optical structure 30 are arranged on the connection structure 50. Specifically, the light emitter 10 is provided on the first substrate 41. The light receiver 20 is provided on the second substrate 42. The first substrate 41, the second substrate 42 and the optical structure 30 are all disposed on the connection structure 50. Specifically, the connection structure 50 includes a transmitting bracket 51, a receiving bracket 52 and an optical bracket 53. The first substrate 41 is disposed on the launch bracket 51. The second substrate 42 is disposed on the receiving bracket 52. The optical structure 30 is arranged on the optical support 53.

In some embodiments, the optical bracket 53 includes a first sub-frame body 531, a second sub-frame body 532, a collimating sub-frame body 533 and a third sub-frame body 534. The optical element 31 is disposed on the first sub-frame body 531. The optical component 32 is disposed on the second sub-frame body 532. The collimating element 33 is arranged on the collimating sub-frame 533. The optical device 34 is arranged on the third sub-frame body 534.

Understandably, the number of sub-frames in the optical bracket 53 is adapted to the optical components included in the optical structure 30. For example, in some embodiments, when the optical device 34 is omitted, the third sub-frame 534 is also omitted accordingly.

Referring to FIGS. 2 to 6, in some embodiments, the distance measuring device 100 further includes a base 61, and the connection structure 50 is provided on the base 61. Specifically, the transmitting bracket 51, the receiving bracket 52 and the optical bracket 53 are all arranged on the base 61. More specifically, the transmitting bracket 51, the receiving bracket 52, the first sub-frame body 531, the second sub-frame body 532, the collimating sub-frame body 533, and the third sub-frame body 534 are all set on the base 61.

Understandably, the connection mode of the base 61 and the connection structure 50 can be set according to actual needs. Specifically, the base 61 and the connecting structure 50 may be integrally formed or separately provided; or the base 61 and a part of the connecting structure 50 may be integrally formed, and the base 61 and the other part of the connecting structure 50 may be formed separately. When the base 61 and at least a part of the connecting structure 50 are separately arranged, the connection between the two can be realized by a connection method such as a snap connection, a quick-release connection such as a screw, and the like.

Please refer to FIG. 7 to FIG. 9. In combination with FIG. 3 to FIG. 6, in some embodiments, the distance measuring device 100 further includes a light shielding member 70. The optical structure 30, the shading member 70 and the light receiver 20 are arranged in sequence along the receiving light path. The light shielding member 70 is used for shielding stray light and allowing the light beam of the receiving optical path to pass through. Stray light is scattered light or reflected light received by the light receiver 20 from a direction outside the receiving optical path. The light shielding member 70 is provided between the optical structure 30 and the light receiver 20. As shown in FIG. Specifically, the light shielding member 70 is provided between the optical device 34 and the light receiver 20, that is, the optical device 34, the light shielding member 70 and the light receiver 20 are sequentially arranged along the receiving light path. The light beam of the receiving optical path whose direction has been changed by the optical device 34 can pass through the light shielding member 70 and be received by the light receiver 20. Wherein, the light beam of the receiving optical path refers to the second light pulse 400 described above.

In some embodiments, certain components are arranged in sequence along the emitting light path or the receiving light path, which may generally refer to a situation where a certain component and another component may partially overlap on the optical path. For example, the component H1 and the component H2 are arranged in sequence along the receiving optical path, and a part of the component H1 and at least a part of the component H2 are both located on a certain optical path section of the receiving optical path. Specifically, when part or all of the light receiver 20 is located in the light shielding member 70, this type of situation also belongs to the range in which the light shielding member 70 and the light receiver 20 are sequentially arranged along the receiving light path.

Specifically, the light shielding member 70 can shield the following stray light: light reflected or scattered by components existing in the distance measuring device 100 or light outside the receiving area observed from the light receiver 20. Exemplarily, referring to FIGS. 10 and 11, it is assumed that the area outside the receiving area is the area ε1 in FIG. 10 and FIG. 11, and the area ε2 is the receiving area, and the receiving area is shown as the area ε2 in FIG. 10 and FIG. 11. It can be seen from FIGS. 10 and 11 that the distance measuring device 100 provided with the light shielding member 70 can effectively shield the stray light, and the stray light received by the light receiver 20 is significantly reduced or even eliminated.

The distance measuring device 100 of the above-mentioned embodiment can shield the light outside the receiving optical path as much as possible through the shading member 70, reduce the stray light reaching the light receiver 20, and make the light beam of the receiving optical path, that is, the second light pulse 400 reliably received by the light. The receiver 20 effectively protects the optical receiver 20 and prevents stray light from interfering with the normal operation of the distance measuring device 100, thereby improving the measurement accuracy and range of the distance measuring device 100.

Referring to FIGS. 7 to 9, in some embodiments, the light shielding member 70 includes a light shielding portion 71 and a light channel portion 72. The light shielding portion 71 is used to shield stray light to reduce interference such as noise caused by the stray light reaching the light receiver 20, thereby improving the measurement accuracy and range of the distance measuring device 100. The light channel part 72 is provided on the light shielding part 71 for passing the light beam of the receiving light path.

Referring to FIG. 12 and FIG. 13, it can be understood that the profile of the light channel portion 72 matches the profile of the beam of the receiving light path. In this way, it can be ensured that the second light pulse 400 can enter the optical receiver 20 through the optical channel portion 72, and stray light can be prevented from entering the optical channel portion 72 and being received by the optical receiver 20. The light-shielding member 70 can take any suitable shape, such as a circular tube, an elliptical tube, a waist tube, a square tube, or a polygonal tube, which can shield at least part of the light that interferes with the operation of the distance measuring device 100, and can make it receive A structure in which the light beam of the optical path passes through and is projected onto the light receiver 20. Illustratively, the light shielding member 70 is a closed-loop tubular structure. The size of the closed loop tube is adapted to the beam of the receiving optical path. In this way, the light beam outside the receiving optical path can be prevented from entering the optical channel portion 72 and being received by the light receiver 20, and at the same time, it can be ensured that the light beam of the receiving optical path is projected to the light receiver 20 as much as possible, and the energy loss of the light beam of the receiving optical path can be avoided. , Improve the accuracy and range of the distance measuring device 100.

Referring to FIGS. 7 to 9, the light shielding portion 71 extends outwardly along the outer circumference of the light channel portion 72. Specifically, the light channel portion 72 has a through hole structure, and the through hole structure penetrates the light shielding portion 71. That is, the shading member 70 is hollow, the middle portion of the shading member 70 can allow the second light pulse 400 to pass through, and the outer surface of the shading member 70 can block stray light.

It is understandable that the light-shielding portion 71 is made of a material that does not transmit light or has a low light transmittance, for example, is made of a material with a low light transmittance such as copper and aluminum.

Referring to FIGS. 7 to 9, in some embodiments, the light channel part 72 includes a first sub-channel 721 and a second sub-channel 722. At least part of the optical receiver 20 is provided in the first sub-channel 721. The second sub-channel 722 is in communication with the first sub-channel 721, and the light beam of the receiving optical path can enter the first sub-channel 721 through the second sub-channel 722. Referring to FIG. 13, specifically, the second light pulse 400 guided by the optical device 34 can enter the first sub-channel 721 through the second sub-channel 722, so that at least part of the optical receivers located in the first sub-channel 721 20 can receive the second light pulse 400.

Referring to FIG. 9, in some embodiments, the channel size of the first sub-channel 721 is larger than the channel size of the second sub-channel 722. Of course, in other embodiments, the channel size of the first sub-channel 721 may also be smaller than or equal to the channel size of the second sub-channel 722.

The shading member 70 can be arranged at any suitable position according to actual needs. Illustratively, referring to FIGS. 3 to 5 again, the light shielding member 70 is disposed on the receiving bracket 52. It is understandable that the shading member 70 can be integrally formed with the receiving bracket 52; it can also be provided separately, for example, connected by a snap connection, a quick-release member such as a screw, or the like.

If the first light pulse 300 emitted by the light emitter 10 is not processed, it often cannot accurately conform to the designed light path, which will cause a lot of unwanted stray light to appear inside the measuring device. To this end, please refer to FIGS. 14 and 15. In some embodiments, the distance measuring device 100 further includes a light confinement member 80, which is used to confine the first light pulse 300 generated by the light emitter 10 to reduce The beam size of the first light pulse 300 through the light confinement member 80 is small.

As a result, the emission light path can be made to conform to the preset light path, and the emission accuracy of the first light pulse 300 can be improved, so that the first light pulse 300 is emitted according to the preset light path, shielding light outside the preset light path, and reducing unnecessary stray light. produce. The preset optical path can be designed according to actual needs and is not limited here.

Please refer to FIGS. 3 to 5 again, where the light confinement member 80 is disposed between the light emitter 10 and the optical structure 30, that is, the light emitter 10, the light confinement member 80, and the optical structure 30 are sequentially disposed along the emission light path.

It is understandable that the light restricting member 80 can restrict the beam size of the first light pulse 300 in any direction according to actual needs. Since the array of light-emitting components in the light emitter 10 is usually not arranged in a circular shape, it may be difficult to achieve the best confinement effect by directly using a circular light-shielding tube. In order to restrict the first light pulse 300 emitted by the light transmitter 10 in a targeted manner, in some embodiments, the light restricting member 80 can restrict the beam size of the first light pulse 300 in the optically sensitive direction, that is, restrict the beam size of the first light pulse 300 in the optically sensitive direction. The beam size of the first light pulse 300 of the restricting member 80 in the optically sensitive direction. It should be noted that the optically sensitive direction refers to the direction in which the light emitter 10 has a larger divergence angle. Specifically, referring to FIG. 16, the divergence angle η1 of the light emitter 10 along the i direction is greater than the divergence angle η2 of the light emitter 10 along the j direction, so the i direction is the optically sensitive direction. Please refer to FIG. 16 and FIG. 17. In FIG. 16 and FIG. 17, δ1 is the profile of the first light pulse 300 that is not constrained by the light confinement member 80. In FIG. 17, δ2 is the profile of the first light pulse 300 after being constrained by the light confinement member 80. It can be seen from FIGS. 16 and 17 that the beam size of the first light pulse 300 after being constrained by the light confinement member 80 is smaller than that of the first light pulse 300 without being constrained by the light confinement member 80, which shields the light beam outside the preset optical path. Light, reduce the generation of unnecessary stray light.

Please refer to FIGS. 14 and 15 again. In some embodiments, the light restricting member 80 is formed with a light passage 81 that can restrict the beam size of the first light pulse 300 in the optically sensitive direction. Specifically, the light passage 81 can allow at least a part of the first light pulse 300 to pass through, and the wall surface of the light passage 81 can constrain the first light pulse 300 in the optically sensitive direction, so that the first light pulse 300 is preset The light path emits, reducing the generation of unnecessary stray light.

Referring to FIGS. 18, 19 and 20, in some embodiments, the channel size of the light-passing channel 81 matches the beam size of the first light pulse 300. The beam size of the first light pulse 300 may also be referred to as the outline size of the first light pulse 300. Specifically, the beam size of the first light pulse 300 in the optically sensitive direction in the preset optical path is matched with the channel size of the light passage 81 in the optically sensitive direction. In this way, on the one hand, the light outside the preset optical path can be shielded from entering In the light-passing channel 81, unnecessary stray light can be reduced; on the other hand, it can ensure that the light in the preset light path passes through the light-passing channel 81 to the greatest extent, so as to avoid energy loss.

Please refer to FIG. 21, in conjunction with FIG. 14 and FIG. 15, in some embodiments, the light restricting member 80 includes a first restricting portion 82 and a second restricting portion 83. The first restricting portion 82 and the second restricting portion 83 are arranged opposite to each other along the optically sensitive direction to form a light passage 81.

Please refer to FIG. 21. In some embodiments, the first constraining portion 82 includes a connecting section 821 and a constraining section 822. The constraining section 822 is connected to the connecting section 821, and the constraining section 822 extends in a direction away from the light emitter 10. Specifically, the light transmitter 10, the connecting section 821 and the constraining section 822 are arranged in sequence along the emission light path.

Please refer to FIG. 21, in some embodiments, the second constraining part 83 includes a connecting sub-part 831 and a constraining sub-part 832. The constraining sub-part 832 is connected to an end of the connecting sub-part 831 facing away from the light emitter 10. The constraining sub-part 832 cooperates with the constraining section 822 to constrain the beam size of the first light pulse 300 in the optically sensitive direction.

Please refer to FIG. 21, in combination with FIG. 14 and FIG. 15, in order to facilitate processing, the side of the connecting section 821 facing the light passage 81 has a curved surface. The connecting sub-part 831 has an arc surface on the side facing the light passage 81. Of course, the side of the connecting sub-part 831 away from the light passage 81 may also have a curved surface to facilitate processing. It is understandable that in other embodiments, the surface of the side facing the light passage 81 and the surface of the connecting sub-part 831 can also be designed into any other suitable shapes, such as curved surfaces, according to actual requirements.

Please refer to FIG. 21. In some embodiments, the constraining sub-part 832 has a sub-part body 8321, a first connection surface 8322 and a second connection surface 8323. The sub-part body 8321 is connected to the connecting sub-part 831. The first connection surface 8322 and the second connection surface 8323 are both provided on the side of the sub-part body 8321 adjacent to the light passage 81. The first connecting surface 8322 is connected to the surface of the connecting sub-part 831 facing the light passage 81. The second connecting surface 8323 is provided on a side of the sub-part body 8321 adjacent to the light passage 81. The second connecting surface 8323 is connected to a side of the first connecting surface 8322 away from the connecting sub-part 831.

Understandably, the sub-part body 8321 can be designed in any suitable shape according to actual needs, as long as the connection between the first connection surface 8322 and the second connection surface 8323 can constrain the size of the first light pulse 300 in the optically sensitive direction. For example, a triangle, an arc curved toward the light path, a semi-arc convex toward the light path, other suitable regular or irregular shapes, etc. Referring to FIG. 21, in combination with FIG. 14 and FIG. 15, in some embodiments, the size of the sub-part body 8321 along the optically sensitive direction gradually decreases from the side adjacent to the connecting sub-part 831 toward the light passage 81. In this way, the constraining sub-part 832 facing away from the end of the connecting sub-part 831 can constrain the size of the first light pulse 300 in the optically sensitive direction.

Please refer to FIG. 21. In some embodiments, in order to facilitate processing, the first connecting surface 8322 is arc-shaped. The second connecting surface 8323 is arc-shaped. Specifically, the curvature of the first connecting surface 8322 may be the same or substantially the same as the curvature of the arc-shaped surface of the connecting sub-part 831 to facilitate processing. It is understandable that in other embodiments, the first connection surface 8322 and the second connection surface 8323 may also have any other suitable shapes.

Referring to FIGS. 18, 19 and 20, in conjunction with FIG. 21, in some embodiments, the connection between the first connection surface 8322 and the second connection surface 8323 is opposite to the end of the first constraining portion 82 away from the light emitter 10 Cooperate together to constrain the beam size of the first light pulse 300 in the optically sensitive direction. Specifically, the fixed end of the constraining section 822 is connected to the connecting section 821, and the free end of the constraining section 822 can cooperate with the connection of the first connecting surface 8322 and the second connecting surface 8323 to restrain the first light pulse 300 in the optically sensitive direction. Beam size. It is understandable that the connection between the first connecting surface 8322 and the second connecting surface 8323 can be designed in any shape according to actual needs, such as a flat surface, a curved surface, a curved surface, etc., as long as it can cooperate with the free end of the constraining section 822 to restrain the first light. The beam size of the pulse 300 in the optically sensitive direction is sufficient.

Referring to FIGS. 18 and 20, in conjunction with FIG. 21, in some embodiments, the end of the light emitter 10 and the first constraining portion 82 away from the light emitter 10 and the connection are sequentially arranged along the emission light path. Specifically, the light emitter 10, the free end of the constrained section 822 and the connection are projected on the optical axis of the emission light path, and the end of the light emitter 10 and the first constraining portion 82 away from the light emitter 10 and the connection They are arranged in sequence along the optical axis of the emission light path.

Please refer to FIG. 14 and FIG. 15, FIG. 18 and FIG. 21. In some embodiments, the second constraining portion 83 further includes an extension sub-portion 833. The extension sub-portion 833 is connected to a side of the second connecting surface 8323 facing away from the first connecting surface 8322. Specifically, the extension sub-part 833 is substantially parallel to the constraining section 822.

In some embodiments, the above-mentioned connection, the end of the first constraining portion 82 away from the light emitter 10, and the free end of the extension sub-portion 833 are sequentially spaced apart along the emission light path. Specifically, the connection between the first connection surface 8322 and the second connection surface 8323, the free end of the constraining section 822, and the free end of the extension sub-part 833 are projected on the optical axis of the emission light path, and the first connection surface 8322 and the second connection surface 8323 are The junction of the connecting surface 8323, the free end of the constraining section 822, and the free end of the extension sub-part 833 are sequentially arranged along the optical axis of the emission light path.

Of course, in other embodiments, the end of the first constraining portion 82 away from the light emitter 10 and the free end of the extension sub-portion 833 may be at the same position or at least partially overlapped in the emission light path; or, the above-mentioned connection point and extension sub-portion The free end of the 833 and the end of the first constraining portion 82 away from the light emitter 10 may be arranged at intervals along the emission light path in sequence.

Referring to FIG. 19, in some embodiments, the extension sub-portion 833 may be omitted. In this case, the light restraint member 80 can also restrain the beam size of the first light pulse 300 in the optically sensitive direction. Specifically, the connection between the first connecting surface 8322 and the second connecting surface 8323 cooperates with the end of the first restricting portion 82 away from the light emitter 10 to restrict the beam size of the first light pulse 300 in the optically sensitive direction. More specifically, the fixed end of the constraining section 822 is connected to the connecting section 821, and the free end of the constraining section 822 can cooperate with the connection of the first connecting surface 8322 and the second connecting surface 8323 to restrain the first light pulse 300 in the optically sensitive direction. The beam size on the

Please refer to FIG. 15, FIG. 18, and FIG. 21. In some embodiments, the light confinement member 80 further includes a connecting portion 84. The connecting portion 84 cooperates with the first restricting portion 82 and the second restricting portion 83 to form a light passage 81. Specifically, the arrangement of the connecting portion 84 may also constrain the optical size of the first light pulse 300 in some cases. Of course, the connecting portion 84 may also implement other suitable functions, which are not limited herein. The connecting portion 84 can be designed in any suitable shape according to actual needs, such as a plate shape, etc., which is not limited herein.

Referring to FIG. 19, in some embodiments, the connecting portion 84 may also be omitted. At this time, the light restraint member 80 can also restrain the beam size of the first light pulse 300 in the optically sensitive direction.

It is understandable that the light confinement member 80 can be made of a material with low reflectivity and opaque, so as to absorb or shield unnecessary light to the greatest extent and reduce the generation of stray light. Of course, the light confinement member 80 can also be made of a material with low reflectivity and low light transmittance.

Please refer to FIGS. 3 to 5. In some embodiments, the light restraining member 80 is disposed on the emitting bracket 51. It is understandable that the light constraining member 80 can be integrally formed with the emitting bracket 51; it can also be provided separately, for example, connected by a snap connection, a quick-release member such as a screw, or the like.

In some embodiments, the light constraining member 80 and the first substrate 41 are provided on opposite sides of the emitting bracket 51, and the emitting bracket 51 is provided with light passing openings for the first light pulse 300 emitted by the light emitter 10 to pass through. Over. The light-passing opening communicates with the light-passing channel 81. The first light pulse 300 emitted by the light emitter 10 enters the light passage 81 through the light passage opening, and is constrained by the light passage 81 to be projected onto the optical element 31. The relative position of the light-passing opening and the light-passing channel 81 can be flexibly set according to actual requirements. For example, the light-passing opening can be set away from the light-passing channel 81.

It is understandable that if the beam size of the first light pulse 300 is larger than the preset size, when the first light pulse 300 is projected to the optical component 32, the first light pulse 300 within the preset size range can penetrate the light-transmitting area. Set or refract to project to the collimating element 33. The first light pulse 300 outside the preset size range will be reflected on the reflective area of the optical component 32 to generate stray light. In addition, light outside the distance measuring device 100 may also be projected to the reflection area of the optical component 32 to generate stray light. If the stray light is received by the optical receiver 20, it will interfere with the normal operation of the distance measuring device 100 and affect the measurement accuracy and range of the distance measuring device 100.

For this reason, in some embodiments, the distance measuring device 100 can block or shield the stray light only by providing the shading member 70, so as to reduce the stray light reaching the light receiver 20, so that the light receiver 20 receives the second light path on the preset optical path. Two light pulses 400 improve the measurement accuracy and range of the distance measuring device 100.

In other embodiments, the distance measuring device 100 may restrict the beam size of the first light pulse 300 by only setting the light restraining member 80, so that the beam size of the first light pulse 300 projected on the optical component 32 is less than or equal to a preset value. Size, so as to ensure that the first light pulse 300 can be penetrated or refracted from the light-transmitting area of the optical component 32, avoiding part of the first light pulse 300 projected to the reflective area of the optical component 32 from being reflected and generating stray light, thereby reducing Or avoid stray light reaching the optical receiver 20, and improve the measurement accuracy and range of the distance measuring device 100.

In still other embodiments, the distance measuring device 100 can be provided with the light shielding member 70 and the light restricting member 80 at the same time to reduce or avoid stray light reaching the light receiver 20, which effectively protects the light receiver 20 and improves the measurement of the distance measuring device 100. Precision and range.

It is understandable that the stray light is not limited to the type mentioned in the above embodiment. The light generated during the transmission of the first light pulse 300 and the second light pulse 400 does not meet the preset conditions (for example, does not meet the preset optical path). It belongs to the range of stray light in the embodiments of the present application.

It is understandable that, in some embodiments, the distance measuring device 100 may adopt a coaxial or coaxial optical path scheme, that is, the transmitting optical path and the receiving optical path adopt a coaxial optical path, that is, the first optical pulse 300 and the first optical pulse 300 transmitted by the optical transmitter 10 and the receiving optical path are coaxial. The second light pulse 400 reflected by the probe 2000 shares at least a part of the light path in the distance measuring device 100. Of course, in other embodiments, the distance measuring device 100 may also be based on a dual-axis solution, etc., which is not limited here. In this case, the first light pulse 300 and the second light pulse 400 may be configured to travel along different light paths. .

Since the center of gravity of each of the above-mentioned transmitting bracket 51, receiving bracket 52 and optical bracket 53 is far away from the base 61, it is prone to deformation under a vibration environment, causing the light transmitter 10 and the light receiver 20 to defocus. In order to enhance the anti-vibration performance of each bracket, please refer to FIG. 2 and FIG. 6. In some embodiments, the distance measuring device 100 further includes a cover 62 to improve the vibration reliability of the distance measuring device 100. Wherein, the cover 62 is connected to at least part of the connecting structure 50. In addition, the cover 62 and the base 61 are respectively arranged on both sides of the connecting structure 50. Specifically, the cover 62 is connected to at least two of the brackets.

It is understandable that, in some embodiments, the optical element 31, the optical component 32, and the optical device 34 may be configured according to actual requirements, for example, one of them is omitted, or two of them are omitted, or both are omitted.

It should be noted that the above-mentioned naming of the components of the ranging system 1000 is only for identification purposes, and should not be understood as a limitation to the embodiments of the present application.

The above are only specific implementations of this application, but the scope of protection of this application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or changes within the technical scope disclosed in this application. Replacement, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims (52)

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

   The light transmitter is arranged in the light emitting path and is used to generate the first light pulse;

   An optical receiver, arranged in the receiving optical path, for receiving a second optical pulse, wherein the second optical pulse is an optical pulse formed after the first optical pulse is reflected by the probe;

   An optical structure, configured to guide the first light pulse emitted by the light transmitter to the probe, and guide at least part of the second light pulse reflected by the probe to the light receiver; The optical structure includes a light-transmitting area for the first light pulse to pass through and a reflective area for reflecting the second light pulse;

   A light confinement member, the light emitter, the light confinement member, and the optical structure are sequentially arranged along the emission light path; the light confinement member is used to confine the first light pulse generated by the light emitter to reduce The beam size of the first light pulse passing through the light confinement member;

   A light-shielding member, the optical structure, the light-shielding member, and the light receiver are sequentially arranged along the receiving light path; the light-shielding member is used to shield stray light and allow the light beam of the receiving light path to pass through; the stray light is The light receiver receives scattered light or reflected light from a direction outside the receiving optical path.
2. The distance measuring device according to claim 1, wherein the light shielding member comprises:

   The light shielding part is used to shield the stray light;

   The light channel part is arranged on the light shielding part, and is used for passing the light beam of the receiving light path.
3. 3. The distance measuring device according to claim 2, wherein the profile of the light channel part matches the profile of the light beam of the receiving optical path.
4. The distance measuring device according to claim 2, wherein the light shielding portion extends outwardly along the outer circumference of the light channel portion.
5. The distance measuring device according to claim 2, wherein the optical channel part comprises:

   A first sub-channel, at least part of the optical receiver is provided in the first sub-channel;

   The second sub-channel is connected to the first sub-channel, and the second light pulse can enter the first sub-channel through the second sub-channel.
6. The distance measuring device according to claim 5, wherein the channel size of the first sub-channel is larger than the channel size of the second sub-channel.
7. The distance measuring device according to claim 1, wherein the light shielding member has a closed ring structure.
8. The distance measuring device according to any one of claims 1-7, wherein the light restraint member can restrain the beam size of the first light pulse in the optically sensitive direction.
9. 8. The distance measuring device according to claim 8, wherein the light restricting member is formed with a light passage, and the light passage is capable of restricting the beam size of the first light pulse in the optically sensitive direction.
10. The distance measuring device according to claim 9, wherein the channel size of the light-passing channel matches the beam size of the first light pulse.
11. The distance measuring device according to claim 10, wherein the channel size of the light-passing channel matches the beam size of the first light pulse in the optically sensitive direction.
12. The distance measuring device according to claim 9, wherein the light restraining member comprises:

    First restraint

    The second constraining part is arranged opposite to the first constraining part along the optically sensitive direction to form the light passage.
13. The distance measuring device according to claim 12, wherein the first restricting part comprises:

    Connection section

    The constraining section is connected with the connecting section and extends in a direction away from the light emitter.
14. The distance measuring device according to claim 13, wherein the side of the connecting section facing the light passage has a curved surface.
15. The distance measuring device according to claim 13, wherein the second constraining part comprises:

    Connection sub-part

    The constraining sub-part is connected to an end of the connecting sub-part facing away from the light emitter; and cooperates with the constraining section to constrain the beam size of the first light pulse in the optically sensitive direction.
16. The distance measuring device according to claim 15, wherein the side of the connecting sub-part facing the light passage has an arc-shaped surface.
17. The distance measuring device according to claim 15, wherein the constraining sub-part has:

    The sub-part body is connected with the connecting sub-part;

    The first connecting surface is provided on a side of the sub-part body adjacent to the light passage, and is connected to the surface of the sub-part body facing the light passage;

    The second connecting surface is provided on the side of the sub-part body adjacent to the light passage and connected to the side of the first connecting surface away from the connecting sub-part.
18. The distance measuring device according to claim 17, wherein the size of the sub-part body along the optically sensitive direction gradually decreases from a side adjacent to the connecting sub-part toward the light passage .
19. The distance measuring device according to claim 17, wherein the first connecting surface is arc-shaped; and/or the second connecting surface is arc-shaped.
20. The distance measuring device according to claim 17, wherein the connection between the first connecting surface and the second connecting surface cooperates with the end of the first restraining portion facing away from the light transmitter to The beam size of the first light pulse in the optically sensitive direction is restricted.
21. The distance measuring device according to claim 20, wherein the light emitter, the end of the first restraining portion away from the light emitter, and the connection are arranged in sequence along the emission light path.
22. The distance measuring device according to claim 17, wherein the second constraining part further comprises:

    The extension sub-portion is connected to a side of the second connecting surface away from the first connecting surface.
23. The distance measuring device according to claim 12, wherein the light restricting member further comprises:

    The connecting part cooperates with the first constraining part and the second constraining part to form the light passage.
24. The distance measuring device according to claim 1, wherein the light restraining member is made of a material with low reflectivity and opaque.
25. A distance measuring device, characterized in that it comprises:

    The light transmitter is arranged in the light emitting path and is used to generate the first light pulse;

    An optical receiver, arranged in the receiving optical path, for receiving a second optical pulse, wherein the second optical pulse is an optical pulse formed after the first optical pulse is reflected by the probe;

    An optical structure, configured to guide the first light pulse emitted by the light transmitter to the probe, and guide at least part of the second light pulse reflected by the probe to the light receiver;

    A light-shielding member, the optical structure, the light-shielding member, and the light receiver are sequentially arranged along the receiving light path; the light-shielding member is used to shield stray light and allow the light beam of the receiving light path to pass through; the stray light is The light receiver receives scattered light or reflected light from a direction outside the receiving optical path.
26. The distance measuring device according to claim 25, wherein the light shielding member comprises:

    The light shielding part is used to shield the stray light;

    The light channel part is arranged on the light shielding part, and is used for passing the light beam of the receiving light path.
27. The distance measuring device according to claim 26, wherein the profile of the light channel part matches the profile of the light beam of the receiving optical path.
28. The distance measuring device according to claim 26, wherein the light shielding portion extends outwardly along the outer circumference of the light channel portion.
29. The distance measuring device according to claim 26, wherein the optical channel part comprises:

    A first sub-channel, at least part of the optical receiver is provided in the first sub-channel;

    The second sub-channel is connected to the first sub-channel, and the second light pulse can enter the first sub-channel through the second sub-channel.
30. The distance measuring device according to claim 29, wherein the channel size of the first sub-channel is larger than the channel size of the second sub-channel.
31. The distance measuring device according to claim 25, wherein the light shielding member is a closed ring structure.
32. A distance measuring device, characterized in that it comprises:

    The light transmitter is arranged in the light emitting path and is used to generate the first light pulse;

    An optical receiver, arranged in the receiving optical path, for receiving a second optical pulse, wherein the second optical pulse is an optical pulse formed after the first optical pulse is reflected by the probe;

    An optical structure, configured to guide the first light pulse emitted by the light transmitter to the probe, and guide at least part of the second light pulse reflected by the probe to the light receiver;

    A light confinement member, the light emitter, the light confinement member, and the optical structure are sequentially arranged along the emission light path; the light confinement member is used to confine the first light pulse generated by the light emitter to reduce The beam size of the first light pulse passing through the light confinement member is reduced.
33. The distance measuring device according to claim 32, wherein the light restricting member can restrict the beam size of the first light pulse in the optically sensitive direction.
34. The distance measuring device according to claim 33, wherein the light restricting member is formed with a light passage, and the light passage is capable of restricting the beam size of the first light pulse in the optically sensitive direction.
35. The distance measuring device according to claim 34, wherein the channel size of the light-passing channel matches the beam size of the first light pulse.
36. The distance measuring device according to claim 35, wherein the channel size of the light-passing channel matches the beam size of the first light pulse in the optically sensitive direction.
37. The distance measuring device according to claim 34, wherein the light restricting member comprises:

    First restraint

    The second constraining part is arranged opposite to the first constraining part along the optically sensitive direction to form the light passage.
38. The distance measuring device according to claim 37, wherein the first constraining part comprises:

    Connection section

    The constraining section is connected with the connecting section and extends in a direction away from the light emitter.
39. The distance measuring device according to claim 38, wherein the side of the connecting section facing the light passage has a curved surface.
40. The distance measuring device according to claim 38, wherein the second constraining part comprises:

    Connection sub-part

    The constraining sub-part is connected to an end of the connecting sub-part facing away from the light emitter; and cooperates with the constraining section to constrain the beam size of the first light pulse in the optically sensitive direction.
41. The distance measuring device according to claim 40, wherein the side of the connecting sub-part facing the light passage has an arc-shaped surface.
42. The distance measuring device according to claim 40, wherein the constraining sub-part has:

    The sub-part body is connected with the connecting sub-part;

    The first connecting surface is provided on a side of the sub-part body adjacent to the light passage, and is connected to the surface of the sub-part body facing the light passage;

    The second connecting surface is arranged on the side of the sub-part body adjacent to the light passage, and is connected to the side of the first connecting surface away from the connecting sub-part.
43. The distance measuring device according to claim 42, wherein the size of the sub-part body along the optically sensitive direction gradually decreases from a side adjacent to the connecting sub-part toward the light passage.
44. The distance measuring device according to claim 42, wherein the first connecting surface is arc-shaped; and/or the second connecting surface is arc-shaped.
45. The distance measuring device according to claim 42, wherein the connection between the first connection surface and the second connection surface cooperates with the end of the first constraining portion away from the light transmitter to The beam size of the first light pulse in the optically sensitive direction is restricted.
46. The distance measuring device according to claim 45, wherein the light emitter, the end of the first restricting portion away from the light emitter, and the connection are arranged in sequence along the emitting light path.
47. The distance measuring device according to claim 42, wherein the second constraining part further comprises:

    The extension sub-portion is connected to a side of the second connecting surface away from the first connecting surface.
48. The distance measuring device according to claim 37, wherein the light restricting member further comprises:

    The connecting part cooperates with the first constraining part and the second constraining part to form the light passage.
49. The distance measuring device according to claim 32, wherein the light restricting member is made of a material with low reflectivity and opacity.
50. A ranging system is characterized in that it comprises:

    Shell; and

    The distance measuring device according to any one of claims 1-24, which is provided on the housing.
51. A ranging system is characterized in that it comprises:

    Shell; and

    The distance measuring device according to any one of claims 25-31, which is provided on the housing.
52. A ranging system is characterized in that it comprises:

    Shell; and

    The distance measuring device according to any one of claims 32-49, which is provided on the housing.

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