Optical distance measuring device and mobile device

Abstract

The invention is suitable for the technical field of optical distance measuring devices, and provides an optical distance measuring device and a mobile device.The optical distance measuring device comprises a shell part, a light beam scanning part, a bearing part and a driving part, and the shell part comprises a base; the light beam scanning part is rotatably mounted on the base; the inner ring of the bearing part is mounted on the base, the light beam scanning part is mounted on the outer ring of the bearing part, and the light beam scanning part is rotatably mounted on the base through the bearing part; the driving part is installed on the base, a transmission structure is arranged on the outer side wall of an outer ring of the bearing part, and the driving part can drive the outer ring of the bearing part through the transmission structure so that the outer ring of the bearing part can rotate relative to an inner ring of the bearing part. According to the optical distance measuring device provided by the invention, the radial space occupied by all entities or gaps between the bearing part and the transmission structure is saved, the radial size of the optical distance measuring device is reduced, namely the width size of the optical distance measuring device is reduced, and the miniaturization design of the optical distance measuring device is facilitated.

Description

Technical Field

[0001] The present application belongs to the technical field of optical distance measuring devices, and more specifically, to an optical distance measuring device and a mobile device. Background Art

[0002] Laser radar is a common optical ranging device. Its working principle is to transmit a detection signal to the target, and then compare the received signal reflected from the target with the transmitted signal. After proper processing, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters. The rotating laser radar is mainly composed of a scanning ranging module, a drive module, a housing assembly, and an encoding module. These structures occupy a certain space in the height and width directions of the laser radar.

[0003] At present, terminal products that use rotating laser radars, such as cleaning robots, have put forward higher requirements for the miniaturization of rotating laser radars. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an optical ranging device and a mobile device, aiming to solve the technical problem of large radial dimensions of laser radar in the prior art.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, an optical ranging device is provided, the optical ranging device comprising: an outer shell portion, a light beam scanning portion, a bearing portion and a driving portion, wherein the outer shell portion comprises a base; the light beam scanning portion is rotatably mounted on the base; the inner ring of the bearing portion is mounted on the base, the light beam scanning portion is mounted on the outer ring of the bearing portion, and the light beam scanning portion is rotatably mounted on the base through the bearing portion; the driving portion is mounted on the base, and a transmission structure is provided on the outer side wall of the outer ring of the bearing portion, and the driving portion can drive the outer ring of the bearing portion through the transmission structure, so that the outer ring of the bearing portion rotates relative to the inner ring of the bearing portion.

[0006] Optionally, the bearing portion includes a bearing outer ring, a bearing inner ring and rolling elements. The bearing outer ring is sleeved on the bearing inner ring. The rolling elements are located between the bearing outer ring and the bearing inner ring and respectively roll with the bearing outer ring and the bearing inner ring. The bearing outer ring forms the outer ring of the bearing portion, and the bearing inner ring forms the inner ring of the bearing portion.

[0007] Optionally, the outer shell portion includes a middle shell support plate, which is arranged on the first end of the bearing outer ring and is arranged in sequence with the bearing outer ring along the axial direction of the bearing portion; a first mounting surface is provided on the side of the middle shell support plate away from the bearing outer ring, and the light beam scanning part is fixedly mounted on the first mounting surface; wherein the middle shell support plate and the bearing outer ring are integrally formed or separately fixedly connected; or, the light beam scanning part is fixedly mounted on the first end of the bearing outer ring.

[0008] Optionally, a first limiting structure is provided on the middle shell support plate, and the first limiting structure cooperates with the inner side wall of the bearing outer ring and / or the outer side wall of the bearing outer ring to limit the radial movement of the middle shell support plate relative to the bearing outer ring; and / or a second limiting structure is provided on the base, and the second limiting structure cooperates with the inner side wall of the bearing inner ring and / or the outer side wall of the bearing inner ring to limit the radial movement of the bearing inner ring relative to the base.

[0009] Optionally, the optical ranging device also includes a grating encoding part, the grating encoding part includes a grating encoding disk and a grating detection unit, the grating detection unit is used to detect the relative rotation angle or relative rotation speed between the grating detection unit and the grating encoding disk; the grating encoding disk is arranged at the second end of the bearing outer ring, and is arranged in sequence with the bearing outer ring along the axial direction of the bearing part, and the grating detection unit is relatively fixed to the base; wherein the grating encoding disk is integrally formed with the bearing outer ring or is separately fixedly connected; or, the grating encoding disk is arranged at the first end of the bearing inner ring, and is arranged in sequence with the bearing inner ring along the axial direction of the bearing part, and the grating detection unit is relatively fixed to the light beam scanning part; wherein the grating encoding disk is integrally formed with the bearing inner ring or is separately fixedly connected.

[0010] Optionally, a snap-fit ​​structure is provided on the base, and the snap-fit ​​structure is at least partially inserted into the inner ring of the bearing and snap-fitted with the inner ring of the bearing; or, the inner ring of the bearing and the base are arranged in sequence along the axial direction of the bearing part, the base is located at the second end of the inner ring of the bearing, and the inner ring of the bearing and the base are separately fixedly connected or integrally formed.

[0011] Optionally, a transmission groove is provided on the outer wall of the outer ring of the bearing, the transmission structure includes a transmission groove and a transmission belt, and the driving unit drives the outer ring of the bearing to rotate relative to the inner ring of the bearing through the transmission belt; or, a plurality of first transmission teeth are provided on the outer wall of the outer ring of the bearing, the transmission structure includes a plurality of first transmission teeth and a driving gear, the driving gear is in transmission cooperation with the plurality of first transmission teeth, and the driving unit drives the outer ring of the bearing to rotate relative to the inner ring of the bearing through the driving gear; or, a plurality of second transmission teeth are provided on the outer wall of the outer ring of the bearing, the transmission structure includes a plurality of second transmission teeth and a transmission chain, the transmission chain is in transmission cooperation with the plurality of second transmission teeth, and the driving unit drives the outer ring of the bearing to rotate relative to the inner ring of the bearing through the transmission chain.

[0012] Optionally, a first roller groove is provided on the inner wall of the outer ring of the bearing, the rolling body is at least partially located in the first roller groove, and the outer ring of the bearing limits the rolling body by the first roller groove; the projection of the transmission groove in the radial direction of the outer ring of the bearing at least partially overlaps with the projection of the first roller groove in the radial direction of the outer ring of the bearing; or, the projection of the transmission groove in the radial direction of the outer ring of the bearing does not overlap with the projection of the first roller groove in the radial direction of the outer ring of the bearing.

[0013] Optionally, the material of the bearing outer ring is a rubber-plastic material or a metal material, and / or the material of the bearing inner ring is a rubber-plastic material or a metal material.

[0014] According to another aspect of the present application, a mobile device is provided, the mobile device comprising an optical ranging device, and the optical ranging device is the optical ranging device mentioned above.

[0015] The beneficial effect of the optical ranging device provided by the present application is that: compared with the prior art, the optical ranging device provided by the present application eliminates the radial space occupied by all entities or gaps between the bearing part and the transmission structure compared to the prior art, thereby reducing the radial size of the optical ranging device, that is, reducing the width size of the optical ranging device, which is conducive to the miniaturized design of the optical ranging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 A cross-sectional schematic diagram of an optical distance measuring device with some components removed provided in an embodiment of the present application; Figure 2 A cross-sectional schematic diagram of an optical distance measuring device with some components removed, in which a middle shell support plate and a bearing outer ring are integrally formed, provided in an embodiment of the present application; Figure 3 A cross-sectional schematic diagram of an optical distance measuring device with some components removed, in which a bearing inner ring and a base are sequentially arranged along the axial direction of a bearing portion provided in an embodiment of the present application; Figure 4 A cross-sectional schematic diagram of an optical distance measuring device with some components removed, in which the inner ring of a bearing and a base are integrally formed, provided in an embodiment of the present application; Figure 5 An optical distance measuring device with some parts removed, in which a grating encoder disk provided in an embodiment of the present application is arranged at the first end of the inner ring of a bearing; The reference numerals in the above drawings are as follows: 10. Shell; 11. Base; 111. Buckle structure; 12. Middle shell support plate; 20. Bearing part; 21. Bearing outer ring; 211. Transmission structure; 2111. Transmission groove; 2112. Transmission belt; 22. Bearing inner ring; 23. Rolling element; 30. Driving unit; 40. Grating encoding part; 41. Grating encoding disk; 411. Grating encoding structure; 42. Grating detection unit. DETAILED DESCRIPTION

[0018] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element. In the absence of conflict, the embodiments in this application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0021] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0022] As described in the background technology, laser radar is a common optical distance measuring device. Its working principle is to transmit a detection signal to the target, and then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, relevant information of the target can be obtained, such as target distance, direction, height, speed, posture, and even shape parameters. The rotary laser radar is mainly composed of a scanning ranging module, a driving module, a housing assembly, and an encoding module. These structures occupy a certain space in the height direction and width direction of the laser radar. At present, terminal products using rotary laser radars, such as cleaning robots, have put forward higher requirements for the miniaturization of rotary laser radars.

[0023] See also Figures 1 to 5 As shown, in order to solve the above problems, according to one aspect of the present application, an embodiment of the present application provides an optical ranging device, the optical ranging device comprising: a shell portion 10, a beam scanning portion, a bearing portion 20 and a driving portion 30, wherein the shell portion 10 comprises a base 11; the beam scanning portion is rotatably mounted on the base 11; the inner ring of the bearing portion 20 is mounted on the base 11, the beam scanning portion is mounted on the outer ring of the bearing portion 20, and the beam scanning portion is rotatably mounted on the base 11 through the bearing portion 20; the driving portion 30 is mounted on the base 11, and a transmission structure is provided on the outer side wall of the outer ring of the bearing portion 20, and the driving portion 30 can drive the outer ring of the bearing portion 20 through the transmission structure, so that the outer ring of the bearing portion 20 rotates relative to the inner ring of the bearing portion 20. The optical ranging device provided in this embodiment directly sets a transmission structure 211 on the outer side wall of the outer ring of the bearing part 20. Compared with the prior art, the radial space occupied by all entities or gaps between the bearing part 20 and the transmission structure is eliminated, thereby reducing the radial size of the optical ranging device, that is, reducing the width size of the optical ranging device, which is conducive to the miniaturized design of the optical ranging device.

[0024] In a specific embodiment, the light beam scanning unit provided in this embodiment includes a transmitting component and a receiving component, wherein the transmitting component is used to transmit a light beam to a target object, and the receiving component is used to receive a light beam reflected from the target object. By comparing the emitted light beam signal with the light beam signal reflected from the target object, the position information between the optical distance measuring device and the target object can be obtained.

[0025] In another embodiment, a transmitting component and a receiving component may be provided outside the beam scanning part, and the beam scanning part may include a reflector, wherein the reflector is used to reflect the light beam emitted by the transmitting component to the target object, and is also used to receive the light beam reflected from the target object and reflect it again to the receiving component.

[0026] See also Figures 1 to 5 As shown, in a specific embodiment, the bearing part 20 in this embodiment includes a bearing outer ring 21, a bearing inner ring 22 and a rolling body 23, the bearing outer ring 21 is sleeved on the bearing inner ring 22, the rolling body 23 is located between the bearing outer ring 21 and the bearing inner ring 22, and respectively rolls with the bearing outer ring 21 and the bearing inner ring 22; the bearing outer ring 21 forms the outer ring of the bearing part 20, and the bearing inner ring 22 forms the inner ring of the bearing part 20. The bearing outer ring 21 is sleeved on the bearing inner ring 22, and the rolling body 23 is provided between the bearing outer ring 21 and the bearing inner ring 22, and respectively rolls with the bearing outer ring 21 and the bearing inner ring 22, which can reduce the rotation resistance of the bearing outer ring 21 when rotating relative to the axial inner ring, so that the bearing outer ring 21 can rotate more easily relative to the base 11.

[0027] See also Figure 1As shown, in a specific embodiment, the shell part 10 in this embodiment includes a middle shell support plate 12, which is arranged on the first end of the bearing outer ring 21 and is arranged in sequence with the bearing outer ring 21 along the axial direction of the bearing part 20; a first mounting surface is provided on the side of the middle shell support plate 12 away from the bearing outer ring 21, and the light beam scanning part is fixedly installed on the first mounting surface; by installing the light beam scanning part through the middle shell support plate 12, a relatively stable plane support can be provided for the light beam scanning part, thereby reducing the difficulty of assembling the light beam scanning part.

[0028] See also Figure 2 and Figure 3 As shown, in a specific embodiment, the middle shell support plate 12 and the bearing outer ring 21 in this embodiment are integrally formed, and the middle shell support plate 12 and the bearing outer ring 21 are set to be integrally formed. Since the connection link between the middle shell support plate 12 and the bearing outer ring 21 is reduced, the shaking between the middle shell support plate 12 and the bearing outer ring 21 due to looseness or gap in the connection part can be avoided, the overall rigidity of the middle shell support plate 12 and the bearing outer ring 21 is enhanced, and the integrally formed structure can more evenly distribute the load borne, improve the bearing capacity of the middle shell support plate 12 and the bearing outer ring 21, and at the same time, the middle shell support plate 12 and the bearing outer ring 21 are set to be integrally formed, which can also simplify the assembly process of the optical ranging device and improve the controllability of manufacturing accuracy.

[0029] See also Figure 1 As shown, in another embodiment, the middle shell support plate 12 in this embodiment is separately fixedly connected to the bearing outer ring 21. The middle shell support plate 12 and the bearing outer ring 21 are arranged to be separately fixedly connected, which can facilitate the separate maintenance of the middle shell support plate 12 or the bearing outer ring 21, reduce the maintenance cost and maintenance difficulty, shorten the maintenance time, and the separate manufacturing of the middle shell support plate 12 and the bearing outer ring 21 can reduce the complexity of the manufacturing process and reduce the manufacturing difficulty.

[0030] In an optional embodiment, when the middle shell support plate 12 and the bearing outer ring 21 provided in the present embodiment are separately fixedly connected, the middle shell support plate 12 and the bearing outer ring 21 are fixed by threaded fasteners, or the middle shell support plate 12 and the bearing outer ring 21 are fixed by gluing the mating surfaces.

[0031] See also Figure 5 As shown, in another embodiment, the light beam scanning unit in this embodiment is fixedly mounted on the first end of the bearing outer ring 21. The light beam scanning unit is directly fixedly mounted on the first end of the bearing outer ring 21, eliminating the middle shell support plate 12 between the bearing outer ring 21 and the light beam scanning unit, reducing the axial size of the optical distance measuring device, which is conducive to the miniaturization design of the optical distance measuring device.

[0032] In a specific embodiment, a first limiting structure is provided on the middle shell support plate 12 in this embodiment, and the first limiting structure cooperates with the inner side wall of the bearing outer ring 21 and / or the outer side wall of the bearing outer ring 21 to limit the radial movement of the middle shell support plate 12 relative to the bearing outer ring 21; a first limiting structure capable of cooperating with the inner side wall of the bearing outer ring 21 and / or the outer side wall of the bearing outer ring 21 is provided on the middle shell support plate 12, which can facilitate the middle shell support plate 12 to be quickly positioned on the bearing outer ring 21 during assembly. When the first limiting structure cooperates with the inner side wall of the bearing outer ring 21 and / or the outer side wall of the bearing outer ring 21, the relative radial movement between the middle shell support plate 12 and the bearing outer ring 21 can be fully limited, thereby improving the connection stability between the middle shell support plate 12 and the bearing outer ring 21.

[0033] In an optional embodiment, the first limiting structure in this embodiment includes a first limiting convex ring, which is inserted into the bearing outer ring 21, and the outer side wall of the first limiting convex ring contacts and cooperates with the inner side wall of the bearing outer ring 21 to limit the radial movement of the bearing outer ring 21; and / or, the first limiting structure in this embodiment includes a second limiting convex ring, which is sleeved on the bearing outer ring 21, and the inner side wall of the second limiting convex ring contacts and cooperates with the outer side wall of the bearing outer ring 21 to limit the radial movement of the bearing outer ring 21.

[0034] In a specific embodiment, a second limiting structure is provided on the base 11 in this embodiment, and the second limiting structure cooperates with the inner side wall of the bearing inner ring 22 and / or the outer side wall of the bearing inner ring 22 to limit the radial movement of the bearing inner ring 22 relative to the base 11. The second limiting structure that can cooperate with the inner side wall of the bearing inner ring 22 and / or the outer side wall of the bearing inner ring 22 is provided on the base 11, which can facilitate the bearing inner ring 22 to be quickly positioned on the base 11 during the assembly process. When the second limiting structure cooperates with the inner side wall of the bearing inner ring 22 and / or the outer side wall of the bearing outer ring 21, the relative radial movement between the bearing inner ring 22 and the base 11 can be fully limited, thereby improving the connection stability between the base 11 and the bearing inner ring 22.

[0035] In an optional embodiment, the second limiting structure in this embodiment includes a third limiting convex ring, which is inserted into the bearing inner ring 22, and the outer side wall of the third limiting convex ring contacts and cooperates with the inner side wall of the bearing inner ring 22 to limit the radial movement of the bearing inner ring 22; and / or, the second limiting structure in this embodiment includes a fourth limiting convex ring, which is sleeved on the bearing inner ring 22, and the inner side wall of the fourth limiting convex ring contacts and cooperates with the outer side wall of the bearing inner ring 22 to limit the radial movement of the bearing inner ring 22.

[0036] See also Figure 1 and Figure 5 As shown, in a specific embodiment, the optical distance measuring device in this embodiment further includes a grating encoding part 40, the grating encoding part 40 includes a grating encoding disk 41 and a grating detection unit 42, the grating detection unit 42 is used to detect the relative rotation angle or relative rotation speed between the grating detection unit 42 and the grating encoding disk 41; the grating encoding disk 41 is arranged at the second end of the bearing outer ring 21, and is arranged in sequence with the bearing outer ring 21 along the axial direction of the bearing part 20, and the grating detection unit 42 is relatively fixedly arranged with the base 11; the grating encoding disk 41 is arranged at the second end of the bearing outer ring 21, and the grating encoding disk 41 and the bearing outer ring 21 are arranged in sequence along the axial direction of the bearing part 20. The grating encoder disk 41 and the bearing outer ring 21 are arranged in sequence so that the space occupied by the grating encoder disk 41 and the bearing outer ring 21 in the radial direction of the optical distance measuring device can at least partially overlap, that is, the space required for the grating encoder disk 41 itself and the inner and outer sides of the grating encoder disk 41 to be spaced apart from other components in the radial direction is omitted, thereby reducing the radial size of the optical distance measuring device, and the grating detection unit 42 and the base 11 are fixed relative to each other, so that the grating encoder disk 41 can rotate relative to the grating detection unit 42 as the bearing outer ring 21 rotates relative to the base 11, thereby enabling the grating detection unit 42 to detect the relative rotation angle or relative rotation speed between the grating detection unit 42 and the grating encoder disk 41.

[0037] In an optional embodiment, the grating detection unit 42 provided in this embodiment is fixedly mounted on the base 11 and corresponds to the position of the grating encoding disk.

[0038] In an optional embodiment, a grating encoding structure 411 is provided on the grating encoding disk 41 in this embodiment. The grating encoding structure 411 is located on the side of the grating encoding disk 41 away from the outer ring of the bearing. The grating encoding structure 411 includes a plurality of encoding units arranged at intervals along the circumference of the grating encoding disk 41. The grating detection unit 42 determines the relative rotation angle or relative rotation speed of the grating encoding disk 41 by identifying different signals corresponding to these encoding units and the intervals between adjacent encoding units.

[0039] In an optional embodiment, the encoding unit provided in this embodiment is a tooth-shaped protrusion structure, and the grating detection unit 42 is a counter-beam photoelectric sensor. The counter-beam photoelectric sensor has a transmitting end and a receiving end, and the transmitting end transmits signal light to the receiving end. When the grating encoding disk 41 and the grating detection unit 42 rotate relative to each other, multiple tooth-shaped protrusion structures will pass through between the transmitting end and the receiving end in sequence. When the signal light is blocked by the tooth-shaped protrusion structure, the receiving end cannot receive the signal light. When the signal light can pass through the interval between adjacent tooth-shaped protrusion structures, the receiving end can receive the signal light, thereby determining the relative rotation angle or relative rotation speed of the grating encoding disk 41. The use of a counter-beam photoelectric sensor can improve the ability of the optical distance measuring device to resist external light interference.

[0040] In another embodiment, the encoding unit provided in this embodiment is a color block, and the grating detection unit 42 is a reflective photoelectric sensor. Of course, in other embodiments, the encoding unit provided in this embodiment can also be a high reflectivity plane or convex structure. The reflective photoelectric sensor has a transmitting end that transmits signal light toward the grating encoding disk 41 and a receiving end that receives signal light reflected by the grating encoding disk 41. When the grating encoding disk 41 and the grating detection unit 42 rotate relative to each other, multiple color blocks will pass through the positions corresponding to the transmitting end and the receiving end in sequence; when the receiving end receives signal light emitted by the color block or not reflected by the color block, different signals will be generated to determine the relative rotation angle or relative rotation speed of the grating encoding disk 41. The use of a reflective photoelectric sensor can reduce the space occupied by the grating encoding unit 40.

[0041] See also Figures 2 to 4 As shown, in a specific embodiment, the grating code disk 41 provided in this embodiment is integrally formed with the bearing outer ring 21; the grating code disk 41 and the bearing outer ring 21 are arranged to be integrally formed, and since the connection link between the grating code disk 41 and the bearing outer ring 21 is reduced, the shaking between the grating code disk 41 and the bearing outer ring 21 due to looseness or gap in the connection part can be avoided, and the overall rigidity of the grating code disk 41 and the bearing outer ring 21 is enhanced. At the same time, the grating code disk 41 and the bearing outer ring 21 are arranged to be integrally formed, which can also simplify the assembly process of the optical ranging device and improve the controllability of the manufacturing accuracy.

[0042] See also Figure 1 As shown, in another embodiment, the grating code disk 41 in this embodiment is separately fixedly connected to the bearing outer ring 21; the grating code disk 41 and the bearing outer ring 21 are arranged to be separately fixedly connected, which can facilitate the separate maintenance of the grating code disk 41 or the bearing outer ring 21, reduce the maintenance cost and maintenance difficulty, shorten the maintenance time, and the separate manufacturing of the grating code disk 41 and the bearing outer ring 21 can reduce the complexity of the manufacturing process and reduce the manufacturing difficulty.

[0043] In an optional embodiment, when the grating code disk 41 provided in the present embodiment is separately fixedly connected to the bearing outer ring 21, the grating code disk 41 and the bearing outer ring 21 are fixed by threaded fasteners, or the grating code disk 41 and the bearing outer ring 21 are fixed by gluing the mating surfaces.

[0044] In another embodiment, the grating encoder disk 41 in this embodiment is arranged at the first end of the bearing inner ring 22, and is arranged in sequence with the bearing inner ring 22 along the axial direction of the bearing portion 20, and the grating detection unit 42 is fixedly arranged relative to the light beam scanning portion; the grating encoder disk 41 is arranged at the first end of the bearing inner ring 22, and the grating encoder disk 41 and the bearing inner ring 22 are arranged in sequence along the axial direction of the bearing portion 20, so that the occupied space of the grating encoder disk 41 and the bearing inner ring 22 in the radial direction of the optical ranging device can at least partially overlap, thereby reducing the radial size of the optical ranging device, and the grating detection unit 42 and the light beam scanning portion are fixedly arranged relative to each other, so that the grating detection unit 42 can rotate relative to the grating encoder disk 41 as the light beam scanning portion rotates relative to the base 11, and then the grating detection unit 42 can detect the relative rotation angle or relative rotation speed between the grating detection unit 42 and the grating encoder disk 41.

[0045] In an optional embodiment, the grating detection unit 42 provided in this embodiment is fixedly installed on the light beam scanning part or the middle shell support plate.

[0046] See also Figure 5 As shown, in a specific embodiment, the grating code disk 41 in this embodiment is integrally formed with the bearing inner ring 22; the grating code disk 41 and the bearing inner ring 22 are arranged to be integrally formed, and since the connection link between the grating code disk 41 and the bearing inner ring 22 is reduced, the shaking between the grating code disk 41 and the bearing inner ring 22 due to looseness or gap in the connection part can be avoided, and the overall rigidity of the grating code disk 41 and the bearing inner ring 22 is enhanced. At the same time, the grating code disk 41 and the bearing inner ring 22 are arranged to be integrally formed, which can also simplify the assembly process of the optical ranging device and improve the controllability of the manufacturing accuracy.

[0047] In another embodiment, the grating code disk 41 in this embodiment is separately fixedly connected to the bearing inner ring 22. The grating code disk 41 and the bearing inner ring 22 are arranged to be separately fixedly connected, which can facilitate the separate maintenance of the grating code disk 41 or the bearing inner ring 22, reduce the maintenance cost and maintenance difficulty, shorten the maintenance time, and the separate manufacturing of the grating code disk 41 and the bearing inner ring 22 can reduce the complexity of the manufacturing process and reduce the manufacturing difficulty.

[0048] In an optional embodiment, when the grating encoding disk 41 provided in the present embodiment is separately fixedly connected to the bearing inner ring 22, the grating encoding disk 41 and the bearing inner ring 22 are fixed by threaded fasteners, or the grating encoding disk 41 and the bearing inner ring 22 are fixed by gluing the mating surfaces.

[0049] See also Figure 1 and Figure 2As shown, in a specific embodiment, a snap-fit ​​structure 111 is provided on the base 11 in this embodiment, and the snap-fit ​​structure 111 is at least partially penetrated into the bearing inner ring 22 and snap-fitted with the bearing inner ring 22; the snap-fit ​​structure 111 can quickly install the bearing inner ring 22 through a simple snap-in action. When the bearing inner ring 22 needs to be maintained, replaced or upgraded, the maintenance personnel can easily remove the bearing inner ring 22 through simple operations, such as pressing or toggling the unlocking part of the snap-fit ​​structure 111. This easy disassembly feature reduces the maintenance cost and difficulty of the bearing inner ring 22, and when replacing a new bearing inner ring 22, the installation can also be quickly completed.

[0050] In an optional embodiment, the snap-fit ​​structure 111 provided in this embodiment is snap-fitted with the first end of the bearing inner ring 22; or, a snap-fit ​​groove is provided on the inner side wall of the bearing inner ring 22 provided in this embodiment, and the snap-fit ​​structure 111 is snap-fitted with the snap-fit ​​groove.

[0051] See also Figure 3 As shown, in another embodiment, the bearing inner ring 22 and the base 11 in this embodiment are arranged in sequence along the axial direction of the bearing portion 20, the base 11 is located at the second end of the bearing inner ring 22, and the bearing inner ring 22 and the base 11 are separately fixedly connected; the bearing inner ring 22 and the base 11 are arranged in sequence along the axial direction of the bearing portion 20, and the base 11 is located at the second end of the bearing inner ring 22, and the bearing inner ring 22 and the base 11 are separately fixedly connected, which can omit the snap structure 111 located inside the bearing inner ring 22, and provide more sufficient setting space for other components in the optical ranging device that need to use the internal space of the bearing inner ring 22.

[0052] See also Figure 4 As shown, in another embodiment, the bearing inner ring 22 in this embodiment is integrally formed with the base 11. The base 11 and the bearing inner ring 22 are arranged to be integrally formed, and since the connection link between the base 11 and the bearing inner ring 22 is reduced, the shaking between the base 11 and the bearing inner ring 22 due to the looseness or gap of the connection part can be avoided, and the overall rigidity of the base 11 and the bearing inner ring 22 is enhanced. At the same time, the base 11 and the bearing inner ring 22 are arranged to be integrally formed, which can also simplify the assembly process of the optical distance measuring device and improve the controllability of the manufacturing accuracy.

[0053] See also Figures 1 to 5As shown, in a specific embodiment, a transmission groove 2111 is provided on the outer wall of the bearing outer ring 21 in this embodiment, and the transmission structure includes the transmission groove 2111 and a transmission belt 2112, and the driving unit 30 drives the bearing outer ring 21 to rotate relative to the bearing inner ring 22 through the transmission belt 2112; the transmission groove 2111 is provided on the outer wall of the bearing outer ring 21, so that the transmission belt 2112 can cooperate with the bearing outer ring 21 through the transmission groove 2111, and then the driving unit 30 can drive the bearing outer ring 21 to rotate relative to the bearing inner ring 22 through the transmission belt 2112.

[0054] In an optional embodiment, the card slot provided in this embodiment is an annular card slot.

[0055] In an optional embodiment, the transmission groove provided in this embodiment is an annular groove, which extends along the circumference of the bearing outer ring 21 and is adapted to the structure of the transmission belt 2112 .

[0056] In an optional embodiment, the annular groove provided in this embodiment is a belt groove, the bearing outer ring 21 provided with the belt groove forms a driven pulley, and the transmission belt 2112 is a belt; the driving part 30 provided in this embodiment includes a first driving motor and a driving pulley, the output end of the first driving motor is drivingly connected to the driving pulley, and is used to drive the driving pulley to rotate, the belt is arranged on the driving pulley and the driven pulley, and the rotating driving pulley drives the driven pulley to rotate through the belt.

[0057] In another embodiment, a plurality of first transmission teeth are arranged on the outer side wall of the bearing outer ring 21 in this embodiment, the transmission structure includes a plurality of first transmission teeth and a driving gear, the driving gear is in transmission cooperation with the plurality of first transmission teeth, and the driving unit 30 drives the bearing outer ring 21 to rotate relative to the bearing inner ring 22 through the driving gear; a plurality of first transmission teeth are arranged on the outer side wall of the bearing outer ring 21, so that the driving gear can be in transmission cooperation with the bearing outer ring 21 through the plurality of first transmission teeth, and then the driving unit 30 can drive the bearing outer ring 21 to rotate relative to the bearing inner ring 22 through the driving gear.

[0058] In an optional embodiment, the multiple first transmission teeth provided in this embodiment are arranged at intervals along the circumference of the bearing outer ring 21, and the bearing outer ring 21 provided with the multiple first transmission teeth forms a driven gear, and the driven gear is adapted to the driving gear; the driving part 30 provided in this embodiment includes a second driving motor, and the output end of the second driving motor is drivingly connected to the driving gear for driving the driving gear to rotate, the driving gear is meshed with the driven gear, and the rotating driving gear can drive the driven gear to rotate.

[0059] In another embodiment, a plurality of second transmission teeth are arranged on the outer side wall of the bearing outer ring 21 in this embodiment, the transmission structure includes a plurality of second transmission teeth and a transmission chain, the transmission chain is in transmission cooperation with the plurality of second transmission teeth, and the driving unit 30 drives the bearing outer ring 21 to rotate relative to the bearing inner ring 22 through the transmission chain. A plurality of second transmission teeth are arranged on the outer side wall of the bearing outer ring 21, so that the transmission chain can be in transmission cooperation with the bearing outer ring 21 through the plurality of second transmission teeth, and then the driving unit 30 can drive the bearing outer ring 21 to rotate relative to the bearing inner ring 22 through the transmission chain.

[0060] In an optional embodiment, the multiple second transmission teeth provided in this embodiment are arranged at circumferential intervals along the bearing outer ring 21, and the bearing outer ring 21 provided with the multiple second transmission teeth forms a driven sprocket, the transmission chain is a chain, and the driven sprocket is adapted to the chain; the driving part 30 provided in this embodiment includes a third driving motor and a driving sprocket, the output end of the third driving motor is drivingly connected to the driving sprocket, and is used to drive the driving sprocket to rotate, the driving sprocket is adapted to the chain, and the chain is sleeved on the driving sprocket and the driven sprocket, and is respectively meshed with the driving sprocket and the driven sprocket, and the rotating driving sprocket drives the driven sprocket to rotate through the chain.

[0061] See also Figures 1 to 4 As shown in a specific embodiment, a first roller groove is provided on the inner side wall of the bearing outer ring 21 in this embodiment, and the rolling body 23 is at least partially located in the first roller groove. The bearing outer ring 21 limits the rolling body 23 through the first roller groove; the projection of the transmission groove 2111 in the radial direction of the bearing outer ring 21 and the projection of the first roller groove in the radial direction of the bearing outer ring 21 at least partially overlap; the first roller groove is provided on the inner side wall of the bearing outer ring 21, and the rolling body 23 is at least partially located in the first roller groove, so that the bearing outer ring 21 and the rolling body 23 can be optically measured. The space occupied by the transmission groove 2111 in the radial direction of the distance measuring device at least partially overlaps, so that the radial dimension of the bearing part 20 can be designed to be smaller, and the rolling body 23 can also be limited by the first roller groove, thereby improving the stability of the bearing part 20. At the same time, the projection of the transmission groove 2111 in the radial direction of the bearing outer ring 21 is set to at least partially overlap with the projection of the first roller groove in the radial direction of the bearing outer ring 21, so that the space occupied by the transmission groove 2111 and the rolling body 23 in the axial direction of the optical distance measuring device can be at least partially overlapped, so that the axial dimension of the bearing part 20 can be designed to be smaller.

[0062] See also Figure 5As shown, in another embodiment, the projection of the transmission groove 2111 in the present embodiment in the radial direction of the bearing outer ring 21 does not coincide with the projection of the first roller groove in the radial direction of the bearing outer ring 21. When the projection of the transmission groove 2111 in the radial direction of the bearing outer ring 21 does not coincide with the projection of the first roller groove in the radial direction of the bearing outer ring 21, the transmission groove 2111 and the first roller groove are distributed more evenly in the axial direction of the bearing outer ring 21. At this time, while ensuring the structural strength of the bearing outer ring 21, the radial dimension of the bearing outer ring 21 can be designed to be smaller, so that the optical distance measuring device can reduce the size of the outer side surface of the bearing outer ring 21 as much as possible, so as to reduce the radial dimension of the optical distance measuring device.

[0063] In a specific embodiment, the material of the bearing outer ring 21 in this embodiment is a rubber-plastic material; setting the material of the bearing outer ring 21 to a rubber-plastic material can reduce the production cost of the bearing outer ring 21 and reduce the weight of the bearing outer ring 21.

[0064] In another embodiment, the material of the bearing outer ring 21 in this embodiment is a metal material. Setting the material of the bearing outer ring 21 to a metal material can make the bearing outer ring 21 have a higher structural strength and lower rotation noise, avoid the bearing outer ring 21 from shaking during operation, and improve the rotation stability of the bearing outer ring 21.

[0065] In a specific embodiment, the material of the bearing inner ring 22 in this embodiment is a rubber-plastic material; setting the material of the bearing inner ring 22 to a rubber-plastic material can reduce the production cost of the bearing inner ring 22 and reduce the weight of the bearing inner ring 22.

[0066] In another embodiment, the material of the bearing inner ring 22 in this embodiment is a metal material. Setting the material of the bearing inner ring 22 to a metal material can make the bearing inner ring 22 have a higher strength and hardness, thereby enabling the bearing inner ring 22 to withstand a larger radial and axial load. At the same time, setting the material of the bearing inner ring 22 to a metal material can also reduce the friction coefficient between the bearing inner ring 22 and the rolling element 23 to a certain extent, so that the bearing inner ring 22 maintains a better surface accuracy during long-term use and reduces wear.

[0067] According to another aspect of the present application, a mobile device is provided, the mobile device comprising an optical ranging device, and the optical ranging device is the optical ranging device mentioned above.

[0068] In summary, the implementation of the optical ranging device and the moving device provided in this embodiment has at least the following beneficial technical effects: the optical ranging device provided in this embodiment directly sets the transmission structure 211 on the outer side wall of the outer ring of the bearing part 20, thereby eliminating the radial space occupied by all entities or gaps between the bearing part 20 and the transmission structure compared to the prior art, thereby reducing the radial size of the optical ranging device, that is, reducing the width size of the optical ranging device, which is conducive to the miniaturized design of the optical ranging device.

[0069] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An optical distance measuring device, characterized in that: The optical distance measuring device comprises: A shell portion (10), the shell portion (10) comprising a base (11); A light beam scanning unit, the light beam scanning unit being rotatably mounted on the base (11); A bearing portion (20), the inner ring of the bearing portion (20) being mounted on the base (11), the light beam scanning portion being mounted on the outer ring of the bearing portion (20), and the light beam scanning portion being rotatably mounted on the base (11) via the bearing portion (20); A driving unit (30), the driving unit (30) being mounted on the base (11), and a transmission structure (211) being provided on an outer side wall of an outer ring of the bearing unit (20), the driving unit (30) being capable of driving the outer ring of the bearing unit (20) through the transmission structure (211), so that the outer ring of the bearing unit (20) rotates relative to the inner ring of the bearing unit (20).

2. The optical distance measuring device according to claim 1, characterized in that: The bearing portion (20) comprises a bearing outer ring (21), a bearing inner ring (22) and a rolling body (23); the bearing outer ring (21) is sleeved on the bearing inner ring (22); the rolling body (23) is located between the bearing outer ring (21) and the bearing inner ring (22), and respectively rolls with the bearing outer ring (21) and the bearing inner ring (22); The bearing outer ring (21) forms the outer ring of the bearing portion (20), and the bearing inner ring (22) forms the inner ring of the bearing portion (20).

3. The optical distance measuring device according to claim 2, characterized in that: The outer shell portion (10) comprises a middle shell support plate (12), the middle shell support plate (12) being arranged on a first end of the bearing outer ring (21), and being arranged in sequence with the bearing outer ring (21) along the axial direction of the bearing portion (20); a first mounting surface is arranged on a side of the middle shell support plate (12) away from the bearing outer ring (21), and the light beam scanning portion is fixedly mounted on the first mounting surface; wherein the middle shell support plate (12) and the bearing outer ring (21) are integrally formed or separately fixedly connected; Alternatively, the light beam scanning unit is fixedly mounted on the first end of the bearing outer ring (21).

4. The optical distance measuring device according to claim 3, characterized in that: When the outer shell portion (10) includes the middle shell support plate, a first limiting structure is provided on the middle shell support plate (12), the first limiting structure cooperates with an inner side wall of the bearing outer ring (21) and / or an outer side wall of the bearing outer ring (21) to limit radial movement of the middle shell support plate (12) relative to the bearing outer ring (21); And / or, a second limiting structure is provided on the base (11), the second limiting structure cooperates with the inner wall of the bearing inner ring (22) and / or the outer wall of the bearing inner ring (22) to limit the radial movement of the bearing inner ring (22) relative to the base (11).

5. The optical distance measuring device according to claim 2, characterized in that: The optical distance measuring device further comprises a grating encoding unit (40), the grating encoding unit (40) comprising a grating encoding disk (41) and a grating detection unit (42), the grating detection unit (42) being used to detect a relative rotation angle or a relative rotation speed between the grating detection unit (42) and the grating encoding disk (41); The grating encoding disk (41) is arranged at the second end of the bearing outer ring (21), and is arranged in sequence with the bearing outer ring (21) along the axial direction of the bearing portion (20), and the grating detection unit (42) is fixedly arranged relative to the base (11); wherein the grating encoding disk (41) and the bearing outer ring (21) are integrally formed or separately fixedly connected; Alternatively, the grating encoding disk (41) is arranged at the first end of the bearing inner ring (22), and is arranged in sequence with the bearing inner ring (22) along the axial direction of the bearing portion (20), and the grating detection unit (42) and the light beam scanning portion are relatively fixedly arranged; wherein the grating encoding disk (41) and the bearing inner ring (22) are integrally formed or separately fixedly connected.

6. The optical distance measuring device according to claim 2, characterized in that: A buckle structure (111) is provided on the base (11), and the buckle structure (111) is at least partially inserted into the bearing inner ring (22) and is engaged with the bearing inner ring (22); Alternatively, the bearing inner ring (22) and the base (11) are arranged in sequence along the axial direction of the bearing portion (20), the base (11) is located at the second end of the bearing inner ring (22), and the bearing inner ring (22) and the base (11) are separately fixedly connected or integrally formed.

7. The optical distance measuring device according to any one of claims 2 to 6, characterized in that: A transmission groove (2111) is provided on the outer side wall of the bearing outer ring (21), the transmission structure (211) comprises the transmission groove (2111) and a transmission belt (2112), and the driving unit (30) drives the bearing outer ring (21) to rotate relative to the bearing inner ring (22) via the transmission belt (2112); Alternatively, a plurality of first transmission teeth are provided on the outer wall of the bearing outer ring (21), the transmission structure (211) comprises the plurality of first transmission teeth and a driving gear, the driving gear is in transmission cooperation with the plurality of first transmission teeth, and the driving unit (30) drives the bearing outer ring (21) to rotate relative to the bearing inner ring (22) via the driving gear; Alternatively, a plurality of second transmission teeth are provided on the outer side wall of the bearing outer ring (21), the transmission structure (211) comprises a plurality of second transmission teeth and a transmission chain, the transmission chain cooperates with the plurality of second transmission teeth in transmission, and the driving unit (30) drives the bearing outer ring (21) to rotate relative to the bearing inner ring (22) via the transmission chain.

8. The optical distance measuring device according to claim 7, characterized in that: A first roller groove is provided on the inner side wall of the bearing outer ring (21), the rolling body (23) is at least partially located in the first roller groove, and the bearing outer ring (21) limits the rolling body (23) through the first roller groove; A projection of the transmission groove (2111) in the radial direction of the bearing outer ring (21) at least partially overlaps with a projection of the first roller groove in the radial direction of the bearing outer ring (21); Alternatively, a projection of the transmission groove (2111) in the radial direction of the bearing outer ring (21) does not coincide with a projection of the first roller groove in the radial direction of the bearing outer ring (21).

9. The optical distance measuring device according to any one of claims 2 to 6, characterized in that: The material of the bearing outer ring (21) is a rubber-plastic material or a metal material, and / or the material of the bearing inner ring (22) is a rubber-plastic material or a metal material.

10. A mobile device, characterized in that: The mobile device comprises an optical distance measuring device, and the optical distance measuring device is the optical distance measuring device according to any one of claims 1 to 9.

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