Optical distance measuring device and moving device

Abstract

The present application is applicable to the technical field of optical distance measuring devices, and provides an optical distance measuring device and a moving device, wherein the optical distance measuring device comprises: a housing portion, a bearing portion and a driving portion, wherein the housing portion comprises a base and a rotating middle shell, and a plurality of integrated protrusions arranged at intervals along the circumference of the rotating middle shell are arranged on the rotating middle shell; the inner ring of the bearing portion is mounted on the base, and the rotating middle shell is mounted on the bearing portion through the inner side walls of the plurality of integrated protrusions and the outer ring of the bearing portion through the cooperation; the driving portion is mounted on the base, and the outer side walls of the plurality of integrated protrusions are provided with a transmission structure, and the driving portion can drive the rotating middle shell through the transmission structure, so that the rotating middle shell rotates relative to the base. The optical distance measuring device provided by the present application eliminates the radial space occupied by all entities or gaps between the mounting structure of the outer ring of the bearing portion and the transmission structure except for the integrated protrusions, thereby reducing the radial size of the optical distance measuring device.

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 distance measuring device and a moving device, aiming to solve the technical problem of the large radial size of the rotating middle shell of the optical distance measuring device 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, which includes: a shell part, a bearing part and a driving part, wherein the shell part includes a base and a rotating middle shell, and a plurality of integrated protrusions arranged at intervals along the circumference of the rotating middle shell are provided on the rotating middle shell; the inner ring of the bearing part is installed on the base, and the rotating middle shell is installed on the bearing part through the cooperation of the inner side walls of the plurality of integrated protrusions and the outer ring of the bearing part; the driving part is installed on the base, and the outer side walls of the plurality of integrated protrusions are provided with a transmission structure, and the driving part can drive the rotating middle shell through the transmission structure to make the rotating middle shell rotate relative to the base.

[0006] Optionally, transmission grooves are provided on the outer sides of the multiple integrated protrusions, the transmission structure includes multiple transmission grooves and a transmission belt, the transmission belt is provided in the multiple transmission grooves, and the driving unit drives the rotating middle shell to rotate relative to the base through the transmission belt; or, first transmission teeth are provided on the outer sides of the multiple integrated protrusions, the transmission structure includes multiple first transmission teeth and a driving gear, the driving gear is in transmission cooperation with the multiple first transmission teeth, and the driving unit drives the rotating middle shell to rotate relative to the base through the driving gear; or, second transmission teeth are provided on the outer sides of the multiple integrated protrusions, the transmission structure includes multiple second transmission teeth and a transmission chain, the transmission chain is in transmission cooperation with the multiple second transmission teeth, and the driving unit drives the rotating middle shell to rotate relative to the base through the transmission chain.

[0007] Optionally, a first snap-fit ​​structure is provided on the inner side wall of at least some of the integrated protrusions among the plurality of integrated protrusions, and the first snap-fit ​​structure abuts against the outer ring of the bearing portion to limit the axial movement of the bearing portion in the first direction.

[0008] Optionally, a radial limiting structure is provided on the inner side wall of at least some of the multiple integrated protrusions, and the radial limiting structure abuts and cooperates with the outer side wall of the outer ring of the bearing part; or, a radial limiting structure is provided on the inner side wall of the integrated protrusion that is not provided with the first snap-fit ​​structure, and the radial limiting structure abuts and cooperates with the outer side wall of the outer ring of the bearing part.

[0009] Optionally, the integrated protrusion includes a transmission section and a limiting section, the transmission section and the limiting section are arranged sequentially in the axial direction of the bearing part, the transmission structure is arranged on the transmission section, the first snap structure is arranged on the limiting section, and the thickness of the transmission section in the radial direction of the bearing part is greater than the thickness of the limiting section in the radial direction of the bearing part.

[0010] Optionally, a first limiting structure is formed on the rotating middle shell, and the first limiting structure abuts against the outer ring of the bearing part to limit the axial movement of the bearing part in a second direction; wherein the first direction and the second direction are opposite directions to each other.

[0011] Optionally, a second snap-fit ​​structure is provided on the base, and the second snap-fit ​​structure is at least partially penetrated into the inner ring of the bearing part, and abuts and cooperates with the inner ring of the bearing part to limit the axial movement of the bearing part in the second direction; a second limiting structure is also provided on the base, and the second limiting structure abuts and cooperates with the inner ring of the bearing part to limit the axial movement of the bearing part in the first direction; wherein the first direction and the second direction are opposite directions to each other.

[0012] Optionally, the optical ranging device also includes an encoding disk assembly; the encoding disk assembly includes a plurality of first encoding structures; at least one first encoding structure is arranged on at least part of the plurality of integrated protrusions, and the first encoding structure is integrally formed or separately fixed with the corresponding integrated protrusion; or, the encoding disk assembly includes a disk body and a plurality of second encoding structures; the plurality of second encoding structures are circumferentially spaced apart on the disk body, and the disk body is installed on at least part of the plurality of integrated protrusions in an integrally formed or separately fixed manner, and the plurality of second encoding structures are circumferentially spaced apart on a side of the disk body away from the integrated protrusion.

[0013] Optionally, at least some of the multiple integrated protrusions are provided with a lateral limiting structure, which can abut and cooperate with the inner wall and / or outer wall of the encoding disc assembly to limit the movement of the encoding disc assembly in the radial direction of the bearing portion; and / or, at least some of the multiple integrated protrusions are provided with a first circumferential limiting structure, which can cooperate with the encoding disc assembly to limit the rotation of the encoding disc assembly in the circumferential direction of the bearing portion.

[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 arranges multiple integrated protrusions at intervals along the circumference of the rotating middle shell, so that the outer ring of the bearing part can be installed by cooperating with the inner side walls of the multiple integrated protrusions, and arranges a transmission structure on the outer side walls of the multiple integrated protrusions, so that the driving part can drive the rotating middle shell to rotate relative to the base through the transmission structure, thereby eliminating the radial space occupied by all entities or gaps between the mounting structure of the outer ring of the bearing part and the transmission structure except for the integrated protrusions, reducing the radial size of the optical ranging device, and installing the outer ring of the bearing part by multiple integrated protrusions arranged at intervals along the circumference of the rotating middle shell, which can reduce the space occupied and weight of the outer ring mounting structure of the bearing part in the optical ranging device, thereby achieving lightweight 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 schematic diagram of the structure of an optical distance measuring device with some components removed provided in an embodiment of the present application;

[0018] Figure 2 A cross-sectional schematic diagram of an optical distance measuring device with some components removed provided in an embodiment of the present application;

[0019] Figure 3 A partial cross-sectional schematic diagram of a rotating middle shell equipped with a bearing portion provided in an embodiment of the present application;

[0020] Figure 4 A partial cross-sectional schematic diagram of a rotating middle shell equipped with a bearing portion provided in an embodiment of the present application;

[0021] Figure 5 A schematic diagram of the structure of the rotating middle shell provided in an embodiment of the present application;

[0022] Figure 6 A cross-sectional schematic diagram of a rotating middle shell equipped with a bearing portion provided in an embodiment of the present application;

[0023] Figure 7A schematic diagram of the structure of a rotating middle shell capable of mounting a coding disk assembly provided in an embodiment of the present application;

[0024] Figure 8 A schematic diagram of the structure of the encoding disk assembly provided in an embodiment of the present application;

[0025] Fig. 9 A cross-sectional schematic diagram of a rotating middle housing equipped with a coding disc assembly and a bearing portion provided in an embodiment of the present application;

[0026] The reference numerals in the above drawings are as follows:

[0027] 10. Rotating middle shell; 11. Integrated protrusion; 111. Radial limiting structure; 112. First coding structure; 113. Transverse limiting structure; 114. First circumferential limiting structure; 115. Transmission section; 1151. Transmission groove; 116. Limiting section; 1161. First buckle structure; 12. First limiting structure; 13. Transmission belt;

[0028] 20. Bearing unit;

[0029] 30. Driving unit;

[0030] 40. Encoding disk assembly; 41. Disk body; 411. Second encoding structure. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] See also Figures 1 to 9 As shown, in order to solve the above-mentioned problem, 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, a bearing portion 20 and a driving portion 30, wherein the shell portion comprises a base and a rotating middle shell 10, and a plurality of integrated protrusions 11 arranged at intervals along the circumference of the rotating middle shell 10 are arranged on the rotating middle shell 10; the inner ring of the bearing portion 20 is mounted on the base, and the rotating middle shell 10 is mounted on the bearing portion 20 through the inner side walls of the plurality of integrated protrusions 11 and the outer ring of the bearing portion 20; the driving portion 30 is mounted on the base, and the outer side walls of the plurality of integrated protrusions 11 are provided with a transmission structure, and the driving portion 30 can drive the rotating middle shell 10 through the transmission structure to make the rotating middle shell 10 rotate relative to the base. The optical ranging device provided in this embodiment arranges multiple integrated protrusions 11 at intervals along the circumference of the rotating middle shell 10, so that the outer ring of the bearing part 20 can be installed by cooperating with the inner side walls of the multiple integrated protrusions 11, and arranges a transmission structure on the outer side walls of the multiple integrated protrusions 11, so that the driving part 30 can drive the rotating middle shell 10 to rotate relative to the base through the transmission structure, thereby eliminating the radial space occupied by all entities or gaps between the mounting structure of the outer ring of the bearing part 20 and the transmission structure except for the integrated protrusions 11, thereby reducing the radial size of the optical ranging device, and by installing the outer ring of the bearing part 20 through multiple integrated protrusions 11 arranged at intervals along the circumference of the rotating middle shell 10, the space occupied and the weight of the outer ring mounting structure of the bearing part 20 in the optical ranging device can be reduced, thereby achieving lightweighting of the optical ranging device.

[0037] In an optional embodiment, the optical distance measuring device provided in this embodiment further includes a light beam scanning unit, and the light beam scanning unit is rotatably mounted on the base by rotating the middle shell or the bearing unit.

[0038] In an optional embodiment, the light beam scanning unit 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.

[0039] In another optional 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.

[0040] In a specific embodiment, the integrated protrusion 11 in this embodiment is a protrusion structure that can undergo a certain degree of deformation to avoid the bearing portion 20 from being stuck.

[0041] See also Figures 1 to 4 As shown, in a specific embodiment, transmission grooves 1151 are provided on the outer side walls of the multiple integrated protrusions 11 in this embodiment, and the transmission structure includes multiple transmission grooves 1151 and a transmission belt 13. The transmission belt 13 is arranged in the multiple transmission grooves 1151, and the driving part 30 drives the rotating middle shell 10 to rotate relative to the base through the transmission belt 13; the transmission grooves 1151 are provided on the outer side walls of the multiple integrated protrusions 11, so that the transmission belt 13 can cooperate with the rotating middle shell 10 through the multiple transmission grooves 1151, and then the driving part 30 can drive the rotating middle shell 10 to rotate relative to the base through the transmission belt 13.

[0042] In an optional embodiment, the transmission groove 1151 provided in this embodiment is an arc-shaped groove, which extends along the circumference of the bearing portion 20 and is adapted to the structure of the transmission belt 13. Multiple arc-shaped grooves together form an annular groove with a notch.

[0043] In an optional embodiment, the annular groove with a notch provided in this embodiment is a belt groove, the rotating middle shell 10 provided with the belt groove forms a driven pulley, and the transmission belt 13 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.

[0044] In a specific embodiment, when the bearing portion 20 provided in this embodiment is installed on the rotating middle shell 10, the outer ring of the bearing portion 20 can support the integrated protrusion 11 in the radial direction of the bearing portion 20 to prevent the belt from escaping from the belt groove, thereby improving the support reliability of the belt.

[0045] In another embodiment, first transmission teeth are provided on the outer side walls of the multiple integrated protrusions 11 in this embodiment, and the transmission structure includes multiple first transmission teeth and a driving gear, the driving gear is in transmission cooperation with the multiple first transmission teeth, and the driving unit 30 drives the rotating middle shell 10 to rotate relative to the base through the driving gear; the first transmission teeth are provided on the outer side walls of the multiple integrated protrusions 11, so that the driving gear can be in transmission cooperation with the rotating middle shell 10 through the multiple first transmission teeth, and then the driving unit 30 can drive the rotating middle shell 10 to rotate relative to the base through the driving gear.

[0046] In an optional embodiment, the multiple first transmission teeth provided in this embodiment are arranged at intervals along the circumference of the bearing part 20, and the rotating middle shell 10 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.

[0047] In another embodiment, the outer side walls of the plurality of integrated protrusions 11 in this embodiment are all provided with second transmission teeth, 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 rotating middle shell 10 to rotate relative to the base through the transmission chain. The second transmission teeth are provided on the outer side walls of the plurality of integrated protrusions 11, so that the transmission chain can be in transmission cooperation with the rotating middle shell 10 through the plurality of second transmission teeth, and thus the driving unit 30 can drive the rotating middle shell 10 to rotate relative to the base through the transmission chain.

[0048] In an optional embodiment, the multiple second transmission teeth provided in this embodiment are arranged at circumferential intervals along the bearing part 20, and the rotating middle shell 10 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.

[0049] See also Figures 2 to 4As shown, in a specific embodiment, a first snap-fit ​​structure 1161 is provided on the inner side wall of at least part of the multiple integrated protrusions 11 in this embodiment, and the first snap-fit ​​structure 1161 abuts against the outer ring of the bearing part 20 to limit the axial movement of the bearing part 20 in the first direction. A first snap-fit ​​structure 1161 is provided on the inner side wall of at least part of the integrated protrusion 11, so that the integrated protrusion 11 provided with the first snap-fit ​​structure 1161 on the inner side wall can cooperate with the outer ring of the bearing part 20 through the first snap-fit ​​structure 1161, thereby realizing the limitation of the axial movement of the outer ring of the bearing part 20 in the first direction. In addition, the first snap-fit ​​structure 1161 can also facilitate the installation of the outer ring of the bearing part 20. During installation, it is only necessary to align the outer ring of the bearing part 20 with the position of the first snap-fit ​​structure 1161 and gently press or rotate it to limit it in the appropriate position. Compared with some complicated limiting methods, no additional complicated tools or cumbersome operating steps are required. This can improve assembly efficiency and reduce production costs when mass-producing equipment.

[0050] See also Figures 1 to 7 As shown, in a specific embodiment, a radial limiting structure 111 is provided on the inner side wall of at least part of the multiple integrated protrusions 11 in this embodiment, and the radial limiting structure 111 abuts and cooperates with the outer side wall of the outer ring of the bearing part 20; a radial limiting structure 111 is provided on the inner side wall of at least part of the integrated protrusions 11, so that the integrated protrusion 11 provided with the radial limiting structure 111 can abut and cooperate with the outer side wall of the outer ring of the bearing part 20 through the radial limiting structure 111, thereby realizing the limiting of the movement of the outer ring of the bearing part 20 in the radial direction of the bearing part 20, and, through the abutment and cooperation of the radial limiting structure 111 with the outer side wall of the outer ring of the bearing part 20, the radial matching area between the integrated protrusion 11 and the outer side wall of the outer ring of the bearing part 20 can be reduced, thereby reducing the matching accuracy requirement of the outer ring of the bearing part 20 and improving the assembly efficiency.

[0051] In an optional embodiment, the radial limiting structure 111 provided in this embodiment includes a bearing limiting rib. The bearing limiting rib provided in this embodiment protrudes from the inner side wall of the integrated protrusion 11 and extends along the length direction of the integrated protrusion 11.

[0052] In another embodiment, a radial limiting structure 111 is provided on the inner side wall of the integrated protrusion 11 in this embodiment that is not provided with the first snap-fit ​​structure 1161, and the radial limiting structure 111 abuts and cooperates with the outer side wall of the outer ring of the bearing portion 20. The radial limiting structure 111 is provided on the inner side wall of the integrated protrusion 11 that is not provided with the first snap-fit ​​structure 1161, so that the integrated protrusion 11 provided with the radial limiting structure 111 can abut and cooperate with the outer side wall of the outer ring of the bearing portion 20 through the radial limiting structure 111, thereby limiting the movement of the outer ring of the bearing portion 20 in the radial direction of the bearing portion 20, and through the abutment and cooperation of the radial limiting structure 111 with the outer side wall of the outer ring of the bearing portion 20, the radial matching area between the integrated protrusion 11 and the outer side wall of the outer ring of the bearing portion 20 can be reduced, thereby reducing the matching accuracy requirements of the outer ring of the bearing portion 20, and improving the assembly efficiency. Since the first snap-fit ​​structure 1161 and the radial limiting structure 111 are not integrated on the same integrated protrusion 11, the setting of the radial limiting structure 111 will not affect the cross-sectional shape of the integrated protrusion 11 provided with the first snap-fit ​​structure 1161 in the radial direction of the bearing portion 20, that is, the cross-sectional moment of inertia of the integrated protrusion 11 provided with the first snap-fit ​​structure 1161 will not increase. Since the deflection of the integrated protrusion 11, that is, the degree of bending deformation is inversely proportional to the cross-sectional moment of inertia, when the first snap-fit ​​structure 1161 and the radial limiting structure 111 are not integrated on the same integrated protrusion 11, the integrated protrusion 11 can have better elasticity.

[0053] See also Figure 3 and Figure 4 As shown, in a specific embodiment, the integrated protrusion 11 in this embodiment includes a transmission section 115 and a limiting section 116, the transmission section 115 and the limiting section 116 are arranged in sequence in the axial direction of the bearing portion 20, the transmission structure is arranged on the transmission section 115, and the first snap-fit ​​structure 1161 is arranged on the limiting section 116, and the thickness of the transmission section 115 in the radial direction of the bearing portion 20 is greater than the thickness of the limiting section 116 in the radial direction of the bearing portion 20. The thickness of the transmission section 115 in the radial direction of the bearing part 20 is set to be greater than the thickness of the limiting section 116 in the radial direction of the bearing part 20, and the transmission structure is set on the transmission section 115, and the first snap structure 1161 is set on the limiting section 116. This can make the integrated protrusion 11 have a larger cross-sectional moment of inertia at the transmission section 115 and a smaller cross-sectional moment of inertia at the limiting section 116, thereby reducing the degree of bendable deformation of the transmission section 115 during the transmission process, ensuring the transmission efficiency, and increasing the degree of bendable deformation of the limiting section 116 during the assembly process, which is convenient for the assembly of the outer ring of the bearing part 20.

[0054] See also Figure 3 and Figure 4As shown, in an optional embodiment, the transmission section 115 and the limiting section 116 provided in this embodiment are step structures or gradual structures.

[0055] See also Figures 2 to 4 As shown, in a specific embodiment, a first limiting structure 12 is formed on the rotating middle shell 10 in this embodiment, and the first limiting structure 12 abuts and cooperates with the outer ring of the bearing part 20 to limit the axial movement of the bearing part 20 in the second direction; wherein the first direction and the second direction are opposite directions to each other. The first limiting structure 12 is provided on the rotating middle shell 10, so that the rotating middle shell 10 can limit the axial movement of the outer ring of the bearing part 20 in the second direction through the cooperation of the first limiting structure 12 and the outer ring of the bearing part 20.

[0056] In a specific embodiment, the first direction provided in this embodiment is a direction from the first end of the bearing portion 20 to the second end of the bearing portion 20 , wherein the first end of the bearing portion 20 is an end of the bearing portion 20 away from the base.

[0057] In an optional embodiment, the first limiting structure 12 provided in this embodiment is a flange structure extending toward the middle part of the rotating middle shell 10 in the radial direction of the bearing part 20, and the axial projection of the flange structure at least partially coincides with the axial projection of the outer ring of the bearing part 20. The first limiting structure 12 provided in this embodiment is used to abut and cooperate with the first end of the outer ring of the bearing part 20 to limit the axial movement of the outer ring of the bearing part 20 in the second direction.

[0058] In an optional embodiment, the first snap-fit ​​structure 1161 provided in this embodiment is snap-fitted with the second end of the outer ring of the bearing part 20; or, a first snap-fit ​​groove is provided on the outer side wall of the outer ring of the bearing part 20 provided in this embodiment, and the first snap-fit ​​structure 1161 is snap-fitted with the first snap-fit ​​groove.

[0059] In an optional embodiment, the first groove provided in this embodiment is an annular groove extending along the circumference of the bearing portion 20 .

[0060] In a specific embodiment, a second buckle structure is provided on the base in this embodiment, and the second buckle structure is at least partially inserted into the inner ring of the bearing part 20, and abuts with the inner ring of the bearing part 20 to limit the axial movement of the bearing part 20 in the second direction; a second limiting structure is also provided on the base, and the second limiting structure abuts with the inner ring of the bearing part 20 to limit the axial movement of the bearing part 20 in the first direction; wherein the first direction and the second direction are opposite directions to each other. A second buckle structure is provided on the base, which is at least partially inserted into the inner ring of the bearing part 20, so that the base can abut with the inner ring of the bearing part 20 through the second buckle structure, thereby limiting the axial movement of the inner ring of the bearing part 20 in the second direction. At the same time, a second limiting structure is also provided on the base, so that the base can abut with the inner ring of the bearing part 20 through the second limiting structure, thereby limiting the axial movement of the inner ring of the bearing part 20 in the first direction.

[0061] In an optional embodiment, the projection of the second limiting structure provided in this embodiment in the axial direction of the bearing part 20 at least partially overlaps with the projection of the inner ring of the bearing part 20 in the axial direction of the bearing part 20, and the second limiting structure provided in this embodiment is used to abut and cooperate with the second end of the inner ring of the bearing part 20 to limit the axial movement of the outer ring of the bearing part 20 in the first direction.

[0062] In an optional embodiment, the second snap-fit ​​structure provided in this embodiment is snap-fitted with the second end of the outer ring of the bearing part 20; or, a second snap-fit ​​groove is provided on the outer side wall of the outer ring of the bearing part 20 provided in this embodiment, and the second snap-fit ​​structure is snap-fitted with the second snap-fit ​​groove.

[0063] In an optional embodiment, the second groove provided in this embodiment is an annular groove extending along the circumference of the bearing portion 20 .

[0064] See also Figure 5 As shown, in a specific embodiment, the optical ranging device in this embodiment also includes a coding disk assembly 40; the coding disk assembly includes a plurality of first coding structures 112; at least one first coding structure 112 is provided on at least part of the integrated protrusions 11 among the plurality of integrated protrusions 11, and the first coding structure 112 and the corresponding integrated protrusion 11 are integrally formed or separately fixed; the plurality of first coding structures 112 are respectively integrated on at least part of the integrated protrusions 11 among the plurality of integrated protrusions 11, so that the structural reuse of the first coding structure 112 and the integrated protrusion 11 can be achieved, and the radial space occupied by all entities or gaps between the mounting structure of the outer ring of the bearing part 20 and the coding structure except the integrated protrusion 11 is eliminated, thereby reducing the radial size of the optical ranging device.

[0065] In an optional embodiment, if the width of the integrated protrusion 11 is large and the distance between two adjacent integrated protrusions 11 is small, at least two first coding structures 112 may be spaced apart on the integrated protrusion 11 provided in this embodiment.

[0066] In another embodiment, if the width of the integrated protrusion 11 is small and the distance between two adjacent integrated protrusions 11 is small, it is not necessary to provide the first coding structure 112 on each integrated protrusion.

[0067] See also Figures 1 to 5 As shown, in a specific embodiment, the first coding structure 112 in this embodiment is integrally formed with the corresponding integrated protrusion 11; the first coding structure 112 and the corresponding integrated protrusion 11 are arranged to be integrally formed, and since the connection link between the first coding structure 112 and the corresponding integrated protrusion 11 is reduced, the shaking between the first coding structure 112 and the corresponding integrated protrusion 11 due to looseness or gap in the connection part can be avoided, and the overall rigidity of the first coding structure 112 and the corresponding integrated protrusion 11 is enhanced. At the same time, the first coding structure 112 and the corresponding integrated protrusion 11 are arranged to be integrally formed, which can also simplify the assembly process of the optical ranging device and improve the controllability of manufacturing accuracy.

[0068] In another embodiment, the first coding structure 112 in this embodiment is separately fixed to the corresponding integrated protrusion 11. The first coding structure 112 and the corresponding integrated protrusion 11 are arranged to be separately fixedly connected, which can facilitate the separate maintenance of the first coding structure 112 or the corresponding integrated protrusion 11, reduce the maintenance cost and maintenance difficulty, shorten the maintenance time, and the separate manufacturing of the first coding structure 112 and the corresponding integrated protrusion 11 can reduce the complexity of the manufacturing process and reduce the manufacturing difficulty.

[0069] In an optional embodiment, when the first coding structure 112 provided in the present embodiment is fixed separately from the corresponding integrated protrusion 11, the first coding structure 112 and the corresponding integrated protrusion 11 are fixed by threaded fasteners, and when the first coding structure 112 and the corresponding integrated protrusion 11 are connected by threaded fasteners, the connection reliability between the first coding structure 112 and the corresponding integrated protrusion 11 is high, or the first coding structure 112 and the corresponding integrated protrusion 11 are fixed by gluing the mating surfaces, and when the first coding structure 112 and the corresponding integrated protrusion 11 are connected by gluing, the connection structure is simple, small in size, and low in cost.

[0070] See also Figure 7 and Figure 8As shown, in another embodiment, the encoding disc assembly 40 in this embodiment includes a disc body 41 and a plurality of second encoding structures 411; the disc body 41 is installed on at least part of the integrated protrusions 11 among the plurality of integrated protrusions 11 in an integrally formed or split fixed manner, and the plurality of second encoding structures 411 are circumferentially spaced and arranged on a side of the disc body 41 away from the integrated protrusions 11. In the case where the disc body 41 is installed on at least part of the integrated protrusions 11 among the plurality of integrated protrusions 11, the corresponding integrated protrusions 11 will be subjected to a supporting force by the disc body 41 to limit radial deformation, and if the corresponding integrated protrusions 11 are provided with a first buckle structure 1161, then the first buckle structure 1161 will have a better effect of fixing the outer ring of the bearing part 20, and the disc body 41 and the corresponding integrated protrusion 11 together form a stable supporting structure, which can make the power transmission between the transmission structure on the integrated protrusion 11 and the driving part 30 more stable.

[0071] In an optional embodiment, the disk body 41 provided in this embodiment includes an annular encoding disk body, and a plurality of second coding structures 411 are circumferentially spaced apart on a side of the annular encoding disk body away from the integrated protrusion 11, or the disk body 41 provided in this embodiment includes a plurality of arc-shaped encoding disk bodies arranged in sequence along the circumference of the bearing portion 20, and the plurality of arc-shaped encoding disk bodies together form an annular encoding disk body, and the plurality of second coding structures 411 are circumferentially spaced apart on a side of the annular encoding disk body away from the integrated protrusion 11.

[0072] In an optional embodiment, the disk body 41 provided in this embodiment is installed on at least some of the integrated protrusions 11 among the multiple integrated protrusions 11 in an integrally formed manner, and the disk body 41 and the corresponding integrated protrusions 11 are arranged to be integrally formed. Since the connection links between the disk body 41 and the corresponding integrated protrusions 11 are reduced, the shaking between the disk body 41 and the corresponding integrated protrusions 11 due to looseness or gaps in the connection parts can be avoided, thereby enhancing the overall rigidity of the disk body 41 and the corresponding integrated protrusions 11. At the same time, arranging the disk body 41 and the corresponding integrated protrusions 11 as an integrally formed one can also simplify the assembly process of the optical ranging device and improve the controllability of manufacturing accuracy.

[0073] In an optional embodiment, the disk body 41 provided in this embodiment is installed in a split-fixed manner on at least some of the integrated protrusions 11 among the multiple integrated protrusions 11, and the disk body 41 and the corresponding integrated protrusions 11 are fixed by threaded fasteners. When the disk body 41 and the corresponding integrated protrusions 11 are connected by threaded fasteners, the connection reliability between the disk body 41 and the corresponding integrated protrusions 11 is high, or the disk body 41 and the corresponding integrated protrusions 11 are fixed by gluing the mating surfaces. When the disk body 41 and the corresponding integrated protrusions 11 are connected by gluing, the connection structure is simple, small in size, and low in cost.

[0074] In an optional embodiment, the integrated protrusion 11 provided in this embodiment is fixedly connected to the disk body 41, and coincides with the axial projection of the disk body 41 on the bearing portion 20, and the height of the mating surface with the disk body 41 can be slightly lower than the height of the mating surface of other integrated protrusions 11, which coincides with the axial projection of the disk body 41 on the bearing portion 20, and the height of the mating surface with the disk body 41, so as to facilitate the quick installation and positioning of the disk body 41.

[0075] In a specific embodiment, at least some of the multiple integrated protrusions 11 in this embodiment are provided with a transverse limiting structure 113, and the transverse limiting structure 113 can abut and cooperate with the inner wall and / or the outer wall of the encoding disc assembly 40 to limit the movement of the encoding disc assembly 40 in the radial direction of the bearing portion 20; at least some of the multiple integrated protrusions 11 are provided with a transverse limiting structure 113 that can abut and cooperate with the inner wall and / or the outer wall of the encoding disc assembly 40, which can limit the movement of the encoding disc assembly 40 in the radial direction of the bearing portion 20 and improve the installation accuracy of the encoding disc assembly 40.

[0076] In an optional embodiment, the transverse limiting structure 113 provided in this embodiment includes a first arc-shaped limiting protrusion, which is penetrated through the inner side of the encoding disc assembly 40, and the outer side wall of the first arc-shaped limiting protrusion contacts and cooperates with the inner side wall of the encoding disc assembly 40 to limit the radial movement of the encoding disc assembly 40; and / or, the transverse limiting structure 113 in this embodiment includes a second arc-shaped limiting protrusion, which is located on the radial outside of the encoding disc assembly 40, and the inner side wall of the second arc-shaped limiting protrusion contacts and cooperates with the outer side wall of the encoding disc assembly 40 to limit the radial movement of the encoding disc assembly 40.

[0077] In a specific embodiment, at least some of the integrated protrusions 11 in the embodiment are provided with a first circumferential limiting structure 114, which can cooperate with the code disc assembly 40 to limit the rotation of the code disc assembly 40 in the circumferential direction of the bearing portion 20. The first circumferential limiting structure 114 that can cooperate with the code disc assembly 40 is provided on at least some of the integrated protrusions 11, which can limit the rotation of the code disc assembly 40 in the circumferential direction of the bearing portion 20, thereby improving the installation accuracy of the code disc assembly 40.

[0078] In an optional embodiment, a second circumferential limiting structure is provided on the encoding disc assembly 40 provided in this embodiment, and the second circumferential limiting structure is adapted to the first circumferential limiting structure 114. One of the first circumferential limiting structure 114 and the second circumferential limiting structure is a limiting column, and the other of the first circumferential limiting structure 114 and the second circumferential limiting structure is a limiting hole. Both the limiting column and the limiting hole extend along the axial direction of the bearing portion 20, and the limiting column is passed through the limiting hole to limit the rotation of the encoding disc assembly 40 in the circumferential direction of the bearing portion 20.

[0079] In an optional embodiment, the multiple first coding structures provided in this embodiment together form a first grating coding structure.

[0080] In an optional embodiment, the plurality of second coding structures 411 provided in this embodiment and arranged at intervals along the circumference of the disk body 41 form a second grating coding structure.

[0081] In an optional embodiment, the optical ranging device provided in this embodiment also includes a grating detection unit, which is fixed relative to the base and corresponds to the position of the first grating coding structure or the second grating coding structure, and is used to detect the relative rotation angle or relative rotation speed between the grating detection unit and the first grating coding structure or the second grating coding structure.

[0082] In an optional embodiment, there is a starting coding structure among the multiple first coding structures 112 or the multiple second coding structures 411 provided in this embodiment, and the starting coding structure has a different width relative to other first coding structures 112 or second coding structures 411; the grating detection unit can identify the initial position of the first grating coding structure or the second coding structure 411 through the starting coding structure.

[0083] In another embodiment, among the multiple first coding structures 112 or the multiple second coding structures 411 provided in this embodiment, there is a starting interval located between two adjacent first coding structures 112 or two adjacent second coding structures 411, and the starting interval has a width different from the intervals between other multiple adjacent first coding structures 112 or other multiple adjacent second coding structures 411, and the grating detection unit can identify the initial position of the first grating coding structure or the second grating coding structure through the starting interval.

[0084] In an optional embodiment, the first coding structure 112 or the second coding structure 411 provided in this embodiment is a tooth-shaped protrusion structure, and the grating detection unit is a through-beam photoelectric sensor. The through-beam photoelectric sensor has a transmitting end and a receiving end, and the transmitting end transmits signal light to the receiving end. When the first grating coding structure or the second grating coding structure and the grating detection unit rotate relative to each other, a plurality of 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 first grating coding structure or the second grating coding structure. The use of a through-beam photoelectric sensor can improve the ability of the optical distance measuring device to resist external light interference.

[0085] In another embodiment, the first coding structure 112 or the second coding structure 411 provided in this embodiment is a color block, and the grating detection unit is a reflective photoelectric sensor. Of course, in other embodiments, the first coding structure 112 or the second coding structure 411 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 first grating coding structure or the second grating coding structure and a receiving end that receives signal light reflected by the first grating coding structure or the second grating coding structure. When the first grating coding structure or the second grating coding structure and the grating detection unit 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, thereby determining the relative rotation angle or relative rotation speed of the first grating coding structure or the second grating coding structure. The use of a reflective photoelectric sensor can reduce the occupied space of the grating coding unit.

[0086] 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.

[0087] 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 arranges multiple integrated protrusions 11 at intervals along the circumference of the rotating middle shell 10, so that the outer ring of the bearing part 20 can be installed by cooperating with the inner side walls of the multiple integrated protrusions 11, and arranges a transmission structure on the outer side walls of the multiple integrated protrusions 11, so that the driving part 30 can drive the rotating middle shell 10 to rotate relative to the base through the transmission structure, thereby eliminating the radial space occupied by all entities or gaps between the mounting structure of the outer ring of the bearing part 20 and the transmission structure except for the integrated protrusions 11, thereby reducing the radial size of the optical ranging device, and by installing the outer ring of the bearing part 20 through multiple integrated protrusions 11 arranged at intervals along the circumference of the rotating middle shell 10, the space occupied and the weight of the outer ring mounting structure of the bearing part 20 in the optical ranging device can be reduced, thereby achieving lightweighting of the optical ranging device.

[0088] 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: include: A shell portion, the shell portion comprising a base and a rotating middle shell (10), the rotating middle shell (10) being provided with a plurality of integrated protrusions (11) arranged at intervals along the circumference of the rotating middle shell (10); A bearing portion (20), the inner ring of the bearing portion (20) being mounted on the base, and the rotating middle shell (10) being mounted on the bearing portion (20) through the cooperation between the inner side walls of the plurality of integrated protrusions (11) and the outer ring of the bearing portion (20); a driving part (30), the driving part (30) being mounted on the base, a transmission structure being directly arranged on the outer side walls of the plurality of integrated protrusions (11), the driving part (30) being capable of driving the rotating middle shell (10) through the transmission structure, so that the rotating middle shell (10) rotates relative to the base; a light beam scanning unit, the light beam scanning unit being rotatably mounted on the base via the rotating middle shell (10) or the bearing unit (20); Transmission grooves (1151) are formed on the outer side walls of the plurality of integrated protrusions (11); the transmission structure comprises the plurality of transmission grooves (1151) and a transmission belt (13); the transmission belt (13) is arranged in the plurality of transmission grooves (1151); and the driving unit (30) drives the rotating middle shell (10) to rotate relative to the base via the transmission belt (13).

2. The optical distance measuring device according to claim 1, characterized in that: A first snap-fit ​​structure (1161) is provided on the inner side wall of at least some of the integrated protrusions (11) among the plurality of integrated protrusions (11), and the first snap-fit ​​structure (1161) abuts against the outer ring of the bearing portion (20) to limit axial movement of the bearing portion (20) in a first direction.

3. The optical distance measuring device according to claim 2, characterized in that: A radial limiting structure (111) is provided on the inner side wall of at least some of the integrated protrusions (11) among the plurality of integrated protrusions (11), and the radial limiting structure (111) is in abutment with the outer side wall of the outer ring of the bearing portion (20); Alternatively, the radial limiting structure (111) is provided on the inner side wall of the integrated protrusion (11) that is not provided with the first snap-fit ​​structure (1161), and the radial limiting structure (111) is abutted against the outer side wall of the outer ring of the bearing portion (20).

4. The optical distance measuring device according to claim 2, characterized in that: The integrated protrusion (11) comprises a transmission section (115) and a limiting section (116); the transmission section (115) and the limiting section (116) are arranged in sequence in the axial direction of the bearing portion (20); the transmission structure is arranged on the transmission section (115); the first buckle structure (1161) is arranged on the limiting section (116); and the thickness of the transmission section (115) in the radial direction of the bearing portion (20) is greater than the thickness of the limiting section (116) in the radial direction of the bearing portion (20).

5. The optical distance measuring device according to claim 2, characterized in that: A first limiting structure (12) is formed on the rotating middle shell (10), and the first limiting structure (12) abuts against the outer ring of the bearing portion (20) to limit axial movement of the bearing portion (20) in a second direction; wherein the first direction and the second direction are opposite directions to each other.

6. The optical distance measuring device according to claim 1, characterized in that: The base is provided with a second snap-fit ​​structure, the second snap-fit ​​structure at least partially penetrates the inner ring of the bearing portion (20) and abuts against the inner ring of the bearing portion (20) to limit the axial movement of the bearing portion (20) in a second direction; the base is also provided with a second limiting structure, the second limiting structure abuts against the inner ring of the bearing portion (20) to limit the axial movement of the bearing portion (20) in a first direction; wherein the first direction and the second direction are opposite directions to each other.

7. The optical distance measuring device according to any one of claims 1 to 6, characterized in that: The optical distance measuring device further comprises an encoding disc assembly (40); The encoding disc assembly comprises a plurality of first encoding structures (112); at least one of the first encoding structures (112) is arranged on at least some of the integrated protrusions (11) among the plurality of integrated protrusions (11); the first encoding structure (112) and the corresponding integrated protrusion (11) are integrally formed or separately fixed; Alternatively, the encoding disc assembly (40) comprises a disc body (41) and a plurality of second encoding structures (411); the disc body (41) is mounted on at least some of the integrated protrusions (11) in an integrally formed or separately fixed manner, and the plurality of second encoding structures (411) are circumferentially spaced apart and arranged on a side of the disc body (41) away from the integrated protrusions (11).

8. The optical distance measuring device according to claim 7, characterized in that: At least some of the integrated protrusions (11) among the plurality of integrated protrusions (11) are provided with a transverse limiting structure (113), and the transverse limiting structure (113) is capable of abutting and cooperating with an inner side wall and / or an outer side wall of the encoding disc assembly (40) to limit movement of the encoding disc assembly (40) in a radial direction of the bearing portion (20); And / or, at least some of the integrated protrusions (11) among the plurality of integrated protrusions (11) are provided with a first circumferential limiting structure (114), and the first circumferential limiting structure (114) can cooperate with the encoding disc assembly (40) to limit the rotation of the encoding disc assembly (40) in the circumferential direction of the bearing portion (20).

9. 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 8.

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