Optical distance measuring device and mobile robot

Abstract

The invention is suitable for the technical field of optical distance measuring devices, and provides an optical distance measuring device and a mobile robot, the optical distance measuring device comprises an optical distance measuring part, the optical distance measuring part comprises a transmitting assembly and a rotating mirror assembly, the transmitting assembly is used for transmitting a detection light beam, and the rotating mirror assembly can rotate around a rotation axis relative to the transmitting assembly; the rotating mirror assembly is provided with a first reflecting surface, and the first reflecting surface is used for reflecting the detection light beam, so that the irradiation angle of the detection light beam is changed in the rotating process of the rotating mirror assembly, and the detection light beam can irradiate the target external environment. The inclination of the first reflecting surface relative to the rotation axis is gradually reduced from the first side of the first reflecting surface to the second side of the first reflecting surface. According to the optical distance measuring device provided by the invention, the shape of the scanning drop point track can be corrected, so that the distance from any position on the scanning drop point track to the optical distance measuring device is within an acceptable range, and the close-range detection effect of the optical distance measuring device is improved.

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 robot. Background Art

[0002] Semi-solid laser radar is a common optical ranging device. Its working principle is to emit laser through the laser emission module, change the direction of the laser through the scanning module, irradiate the target object, and then the reflected laser is received by the laser receiving module, and finally the received signal is processed by the signal processing module to obtain the distance, speed, direction and other information of the target object. Semi-solid laser radar is mainly composed of a laser emission module, a rotating mirror module, a laser receiving module and a signal processing module. Some semi-solid laser radars in the prior art will set the rotating mirror module to have multiple reflective surfaces, and set the multiple reflective surfaces to different angles, such as vertical reflective surfaces and forward-inclined reflective surfaces, so as to obtain horizontal long-distance detection scanning beams and downward short-distance detection scanning beams.

[0003] However, by using a simple inclined plane to reflect the detection beam, the actual scanning range obtained is that one side is closer to the semi-solid-state laser radar and the other side is farther away from the semi-solid-state laser radar, which cannot meet the needs of close-range detection. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an optical ranging device and a mobile robot, aiming to solve the technical problem of poor short-range detection effect of semi-solid 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 optical ranging part, the optical ranging part comprising a transmitting assembly and a rotating mirror assembly, the transmitting assembly is used to transmit a detection light beam, and the rotating mirror assembly can rotate around a rotation axis relative to the transmitting assembly; a first reflecting surface is arranged on the rotating mirror assembly, the first reflecting surface is used to reflect the detection light beam, so as to change the irradiation angle of the detection light beam during the rotation of the rotating mirror assembly, so that the detection light beam can be irradiated to the target external environment, and the inclination of the first reflecting surface relative to the rotation axis gradually decreases from the first side of the first reflecting surface to the second side of the first reflecting surface; when the first reflecting surface can reflect the detection light beam to the target external environment, the side of the first reflecting surface close to the transmitting assembly is the first side of the first reflecting surface, and the side of the first reflecting surface away from the transmitting assembly is the second side of the first reflecting surface.

[0006] Optionally, the detection light beam emitted from the transmitting component to the first reflecting surface is the incident light beam; the landing point of the incident light beam on the first reflecting surface is the first landing point, and during the rotation of the rotating mirror assembly, the set of multiple first landing points is the first landing point trajectory; each corresponding section of the first reflecting surface at each first landing point on the first landing point trajectory has a corresponding first inclination angle with the rotation axis, and the magnitude of the first inclination angle is the inclination of the first reflecting surface relative to the rotation axis; from the first side of the first reflecting surface to the second side of the first reflecting surface, the magnitude of the first inclination angle gradually decreases; or, the detection light beam emitted from the transmitting component to the first reflecting surface is the incident light beam, and the landing point of the incident light beam on the first reflecting surface is the first landing point, and during the rotation of the rotating mirror assembly, the set of multiple first landing points is the first landing point trajectory; a corresponding first virtual plane is defined through each first landing point on the first landing point trajectory, and the intersection line of the first reflecting surface and each first virtual plane is the corresponding first intersection line, wherein the multiple first virtual planes The surfaces are all parallel to each other and to the rotation axis; a plurality of first intersection lines have corresponding second inclination angles with the rotation axis, or a plurality of first intersection lines have corresponding second inclination angles between their tangents at corresponding first landing points and the rotation axis, and the magnitude of the second inclination angle is the inclination of the first reflecting surface relative to the rotation axis; the magnitude of the second inclination angle gradually decreases from the first side of the first reflecting surface to the second side of the first reflecting surface; or a corresponding second virtual plane is defined through each first landing point on the first landing point trajectory and through the rotation axis, and the intersection of the first reflecting surface and each second virtual plane is the corresponding second intersection line; a plurality of second intersection lines have corresponding third inclination angles with the rotation axis, or a plurality of second intersection lines have corresponding third inclination angles between their tangents at corresponding first landing points and the rotation axis, and the magnitude of the third inclination angle is the inclination of the first reflecting surface relative to the rotation axis; the magnitude of the third inclination angle gradually decreases from the first side of the first reflecting surface to the second side of the first reflecting surface.

[0007] Optionally, a corresponding first virtual plane is defined through each first landing point on the first landing point trajectory, and the intersection line of the first reflecting surface with each first virtual plane is the corresponding first intersection line, wherein the multiple first virtual planes are parallel to each other and to the rotation axis, the first intersection line is a straight line, or the first intersection line is a curve that is concave in a direction close to the interior of the rotating mirror assembly at least at the corresponding first landing point, or the first intersection line is a curve that is concave in a direction close to the interior of the rotating mirror assembly as a whole; a corresponding second virtual plane is defined through each first landing point on the first landing point trajectory and through the rotation axis, the intersection line of the first reflecting surface with each second virtual plane is the corresponding second intersection line, the second intersection line is a straight line, or the second intersection line is a curve that is concave in a direction close to the interior of the rotating mirror assembly at least at the corresponding first landing point, or the second intersection line is a curve that is concave in a direction close to the interior of the rotating mirror assembly as a whole.

[0008] Optionally, the upper end of the edge of the first side of the first reflecting surface has a first vertex, the lower end of the edge of the first side of the first reflecting surface has a second vertex, the upper end of the edge of the second side of the first reflecting surface has a third vertex, and the lower end of the edge of the second side of the first reflecting surface has a fourth vertex; wherein, a first initial virtual plane is defined by the first vertex, the second vertex and the third vertex, the first initial virtual plane is inclined relative to the rotation axis, and the fourth vertex is located on the side of the first initial virtual plane away from the rotating mirror assembly and is separated from the first initial virtual plane; wherein the first reflecting surface is a smooth curved surface.

[0009] Optionally, the target external environment has a first detection plane, the optical ranging device has a preset height relative to the first detection plane, the detection light beam is reflected by the first reflecting surface and irradiated to the first detection plane, and the detection light beam irradiated to the first detection plane has a preset effective scanning field of view; the landing point of the detection light beam on the first detection plane is the second landing point, and when the detection light beam is within the preset effective scanning field of view and the rotating mirror assembly rotates relative to the emitting assembly, the collection of multiple second landing points is a second landing point trajectory; the second landing point trajectory is located in a rectangular area with a preset length and a preset width on the first detection plane, and there is a preset distance between the projection of the optical ranging device on the first detection plane and the rectangular area.

[0010] Optionally, the second landing point trajectory is a straight line or a curve; and / or the preset height is a, a≤80mm; and / or the preset effective scanning field of view angle is b, 80°≤b≤150°; and / or the preset width is c, c≤20mm; and / or the preset distance is d, 100mm≤d≤200mm.

[0011] Optionally, the optical ranging unit also includes a receiving component, which is used to receive a detection light beam reflected from the target external environment back to the optical ranging device. A second reflecting surface is arranged on the rotating mirror assembly, and the detection light beam emitted to the target external environment via the first reflecting surface can be reflected to the receiving component via the second reflecting surface when it is reflected from the target external environment back to the optical ranging device; the second reflecting surface is a plane, and the second reflecting surface is arranged parallel to or at an angle to the rotation axis; or, the inclination of the second reflecting surface relative to the rotation axis gradually decreases from the first side of the second reflecting surface to the second side of the second reflecting surface; when the first reflecting surface can reflect the detection light beam to the target external environment, the side of the second reflecting surface close to the receiving component is the first side of the second reflecting surface, and the side of the second reflecting surface away from the receiving component is the second side of the second reflecting surface; wherein, the shape of the second reflecting surface is the same as or different from the shape of the corresponding first reflecting surface.

[0012] Optionally, a third reflecting surface is provided on the rotating mirror assembly. The third reflecting surface is parallel to the rotation axis and is used to reflect the detection light beam to change the irradiation angle of the detection light beam during the rotation of the rotating mirror assembly so that the detection light beam can be irradiated to the target external environment. The third reflecting surface and the first reflecting surface are arranged along the circumference of the rotating mirror assembly.

[0013] Optionally, a plurality of first reflection surfaces are provided on the rotating mirror assembly, and the plurality of first reflection surfaces are arranged along the circumference of the rotating mirror assembly; and / or, a plurality of third reflection surfaces are provided on the rotating mirror assembly, and the plurality of third reflection surfaces are arranged along the circumference of the rotating mirror assembly; and / or, the detection light beam emitted from the transmitting assembly to the first reflection surface or the third reflection surface extends in a direction perpendicular to the rotation axis; and / or, the detection light beam irradiated to the target external environment has a preset effective scanning field of view, and the detection light beam emitted from the transmitting assembly to the first reflection surface or the third reflection surface is perpendicular to the center plane of the preset effective scanning field of view; and / or, the optical ranging part also includes a receiving assembly, and the receiving assembly is used to receive the detection light beam reflected from the external environment back to the optical ranging device, and a fourth reflection surface is provided on the rotating mirror assembly, and the detection light beam emitted to the external environment via the third reflection surface can be reflected to the receiving assembly via the fourth reflection surface when it is reflected from the external environment back to the optical ranging device.

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

[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 sets the rotating mirror assembly to be able to rotate around the rotation axis relative to the transmitting assembly, so that the detection light beam emitted by the transmitting assembly can be reflected by the first reflecting surface set on the rotating mirror assembly during the rotation of the rotating mirror assembly, thereby changing the irradiation angle of the detection light beam, so that the detection light beam can be irradiated into the target external environment. At the same time, the landing point of the detection light beam on the plane perpendicular to the rotation axis of the rotating mirror assembly and intersecting with the detection light beam in the target external environment can be assembled into a scanning landing point trajectory during the rotation of the rotating mirror assembly, and the inclination of the first reflecting surface relative to the rotation axis is set to gradually decrease from the first side of the first reflecting surface to the second side of the first reflecting surface, so that the shape of the scanning landing point trajectory can be corrected, so that the distance from any position on the scanning landing point trajectory to the optical ranging device is within an acceptable range, thereby improving the close-range detection effect 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 schematic diagram of the structure of an optical distance measuring device provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of the structure of an optical distance measuring device with the housing removed provided in an embodiment of the present application;

[0019] Figure 3 A schematic diagram of the structure of a rotating mirror assembly provided in an embodiment of the present application;

[0020] Figure 4 A schematic diagram of the structure of an optical distance measuring device from another perspective provided in an embodiment of the present application;

[0021] Figure 5 A schematic structural diagram of a first reflector provided in an embodiment of the present application;

[0022] Figure 6 A schematic diagram of the structure of a first reflector at another viewing angle provided by an embodiment of the present application;

[0023] Figure 7 A schematic structural diagram of a first reflector provided in yet another embodiment of the present application;

[0024] Figure 8 A schematic diagram of the structure of a mobile robot provided in an embodiment of the present application;

[0025] Fig. 9 A schematic diagram of the structure of a mobile robot from another perspective provided in an embodiment of the present application;

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

[0027] 10. Shell; 11. Base; 111. Light-transmitting window; 12. Upper cover;

[0028] 20, optical distance measuring unit; 21, transmitting component; 22, receiving component; 23, rotating mirror component; 231, first reflecting mirror; 2311, first reflecting surface; 232, second reflecting mirror; 2321, third reflecting surface; 233, third reflecting mirror; 2331, second reflecting surface; 234, fourth reflecting mirror; 2341, fourth reflecting surface; 235, rotating mirror bracket;

[0029] 30. Driving unit;

[0030] 41. First vertex; 42. Second vertex; 43. Third vertex; 44. Fourth vertex; 45. First initial virtual plane; 46. Third initial virtual plane. 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, the semi-solid laser radar is a common optical ranging device. Its working principle is to emit laser through a laser emitting module, change the direction of the laser through a scanning module, irradiate it onto the target object, and then the reflected laser is received by a laser receiving module, and finally the received signal is processed by a signal processing module to obtain information such as the distance, speed, and direction of the target object. The semi-solid laser radar is mainly composed of a laser emitting module, a rotating mirror module, a laser receiving module, and a signal processing module. Some semi-solid laser radars in the prior art will set the rotating mirror module to have multiple reflecting surfaces, and set the multiple reflecting surfaces to different angles, such as a vertical reflecting surface and a forward-inclined reflecting surface, so as to obtain a horizontal long-distance detection scanning beam and a downward short-distance detection scanning beam. After research, the inventors of the present application found that in order to avoid the laser emitting module and the laser receiving module from blocking the laser reflected by the rotating mirror module, such as Figure 4 As shown in the figure, when the semi-solid-state laser radar is applied to a mobile robot, the laser transmitting module and the laser receiving module are generally arranged beside the rotating mirror rather than in front of it. However, if a simple inclined plane is used to reflect the detection beam at this time, the reflected detection beam is actually obtained in the scanning trajectory f on the ground in front of the mobile robot, with one side closer to the semi-solid-state laser radar and the other side farther away from the semi-solid-state laser radar, which cannot meet the needs of close-range detection.

[0036] When the semi-solid laser radar in the prior art reflects the detection beam through the inclined reflection plane on the rotating mirror module, the rotating mirror module is first rotated. During the rotation of the rotating mirror module, the landing point of the reflected light beam corresponding to the first side of the inclined reflection plane on the ground is farther away from the semi-solid laser radar, and the landing point of the reflected light beam corresponding to the second side of the inclined reflection plane on the ground is closer to the semi-solid laser radar. When the inclined reflection plane is able to reflect the detection beam to the external environment, the side of the inclined reflection plane close to the transmitting component is the first side of the inclined reflection plane, and the side of the inclined reflection plane away from the transmitting component is the second side of the inclined reflection plane.

[0037] See also Figures 1 to 9As 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, which includes: an optical ranging unit 20, the optical ranging unit 20 includes a transmitting assembly 21 and a rotating mirror assembly 23, the transmitting assembly 21 is used to transmit a detection light beam, and the rotating mirror assembly 23 can rotate around a rotation axis relative to the transmitting assembly 21; a first reflecting surface 2311 is provided on the rotating mirror assembly 23, and the first reflecting surface 2311 is used to reflect the detection light beam to change the irradiation angle of the detection light beam during the rotation of the rotating mirror assembly 23, so that the detection light beam can be irradiated to the target external environment, and the inclination of the first reflecting surface 2311 relative to the rotation axis gradually decreases from the first side of the first reflecting surface 2311 to the second side of the first reflecting surface 2311; when the first reflecting surface 2311 can reflect the detection light beam to the target external environment, the side of the first reflecting surface 2311 close to the transmitting assembly 21 is the first side of the first reflecting surface 2311, and the side of the first reflecting surface 2311 away from the transmitting assembly 21 is the second side of the first reflecting surface 2311. The optical ranging device provided in this embodiment sets the rotating mirror assembly 23 to be able to rotate around the rotation axis relative to the transmitting assembly 21, so that the detection light beam emitted by the transmitting assembly 21 can be reflected by the first reflecting surface 2311 set on the rotating mirror assembly 23 during the rotation of the rotating mirror assembly 23, thereby changing the irradiation angle of the detection light beam, so that the detection light beam can be irradiated into the target external environment. At the same time, the landing point of the detection light beam on the plane perpendicular to the rotation axis of the rotating mirror assembly 23 and intersecting with the detection light beam in the target external environment can be assembled into a scanning landing point trajectory during the rotation of the rotating mirror assembly 23. The inclination of the first reflecting surface 2311 relative to the rotation axis is set to gradually decrease from the first side of the first reflecting surface 2311 to the second side of the first reflecting surface 2311, which can correct the shape of the scanning landing point trajectory so that the distance from any position on the scanning landing point trajectory to the optical ranging device is within an acceptable range, thereby improving the close-range detection effect of the optical ranging device.

[0038] In an optional embodiment, the optical ranging device provided in this embodiment includes a shell portion 10, a light-transmitting portion is provided on the shell portion 10, a transmitting component 21 is fixedly installed in the shell portion 10, a rotating mirror component 23 is rotatably installed in the shell portion 10, and a detection light beam can pass through the light-transmitting portion to irradiate the external environment.

[0039] In an optional embodiment, the first reflecting surface 2311 provided in this embodiment is inclined downward.

[0040] In a specific embodiment, the detection light beam emitted from the transmitting component 21 to the first reflecting surface 2311 in this embodiment is the incident light beam; the landing point of the incident light beam on the first reflecting surface 2311 is the first landing point, and during the rotation of the rotating mirror assembly 23, the collection of multiple first landing points is the first landing point trajectory; each corresponding section of the first reflecting surface 2311 at each first landing point on the first landing point trajectory has a corresponding first inclination angle with the rotation axis, and the magnitude of the first inclination angle is the inclination of the first reflecting surface 2311 relative to the rotation axis; from the first side of the first reflecting surface 2311 to the second side of the first reflecting surface 2311, the magnitude of the first inclination angle gradually decreases. When the incident light beam extends in a direction perpendicular to the rotation axis of the rotating mirror assembly 23, the smaller the first inclination angle between the corresponding section at the first landing point and the rotation axis, the farther the landing point of the detection light beam after being reflected to the target external environment will be from the optical distance measuring device. Therefore, the size of the first inclination angle is set to gradually decrease from the first side of the first reflecting surface 2311 to the second side of the first reflecting surface 2311, so that the first reflecting surface 2311 can correct the shape of the scanning landing point trajectory of the detection light beam in the target external environment, so that the distance from any position on the scanning landing point trajectory to the optical distance measuring device is within an acceptable range, so as to improve the close-range detection effect of the optical distance measuring device. For example, refer to Figure 4 By adopting the first reflection surface 2311 in this embodiment, the original scanning landing point trajectory f can be corrected to the second landing point trajectory e.

[0041] In another embodiment, a corresponding first virtual plane is defined through each first landing point on the first landing point trajectory, and an intersection line between the first reflecting surface 2311 and each first virtual plane is a corresponding first intersection line, wherein the plurality of first virtual planes are parallel to each other and to the rotation axis; a corresponding second inclination angle is provided between the plurality of first intersection lines and the rotation axis, or a corresponding second inclination angle is provided between the tangent line of the plurality of first intersection lines at the corresponding first landing point and the rotation axis, and the magnitude of the second inclination angle is the inclination of the first reflecting surface 2311 relative to the rotation axis; the magnitude of the second inclination angle gradually decreases from the first side of the first reflecting surface 2311 to the second side of the first reflecting surface 2311; when the incident light beam is along the vertical When extending in the direction of the rotation axis of the rotating mirror assembly 23, the smaller the second inclination angle between the first intersection line or the tangent of the first intersection line at the corresponding first landing point and the rotation axis line, the farther the landing point of the detection light beam after being reflected to the target external environment will be from the optical distance measuring device. Therefore, the size of the second inclination angle is set to gradually decrease from the first side of the first reflecting surface 2311 to the second side of the first reflecting surface 2311, so that the first reflecting surface 2311 can correct the shape of the scanning landing point trajectory of the detection light beam in the target external environment, so that the distance from any position on the scanning landing point trajectory to the optical distance measuring device is within an acceptable range, so as to improve the close-range detection effect of the optical distance measuring device. For example, refer to Figure 4 By adopting the first reflection surface 2311 in this embodiment, the original scanning landing point trajectory f can be corrected to the second landing point trajectory e.

[0042] In another embodiment, a corresponding second virtual plane is defined through each first landing point on the first landing point trajectory and through the rotation axis, and the intersection line of the first reflecting surface 2311 with each second virtual plane is the corresponding second intersection line; there is a corresponding third inclination angle between the multiple second intersection lines and the rotation axis, or there is a corresponding third inclination angle between the tangent of the multiple second intersection lines at the corresponding first landing point and the rotation axis, and the magnitude of the third inclination angle is the inclination of the first reflecting surface 2311 relative to the rotation axis; the magnitude of the third inclination angle gradually decreases from the first side of the first reflecting surface 2311 to the second side of the first reflecting surface 2311. When the incident light beam extends in a direction perpendicular to the rotation axis of the rotating mirror assembly 23, the smaller the third inclination angle between the second intersection line or the tangent of the second intersection line at the corresponding first landing point and the rotation axis, the farther the landing point of the detection light beam after being reflected to the target external environment will be from the optical distance measuring device. Therefore, setting the size of the third inclination angle to gradually decrease from the first side of the first reflecting surface 2311 to the second side of the first reflecting surface 2311 can enable the first reflecting surface 2311 to correct the shape of the scanning landing point trajectory of the detection light beam in the target external environment, so that the distance from any position on the scanning landing point trajectory to the optical distance measuring device is within an acceptable range, so as to improve the close-range detection effect of the optical distance measuring device. For example, referring to Figure 4 By adopting the first reflection surface 2311 in this embodiment, the original scanning landing point trajectory f can be corrected to the second landing point trajectory e.

[0043] In a specific embodiment, each first landing point on the first landing point trajectory defines a corresponding first virtual plane, and the intersection line between the first reflection surface 2311 and each first virtual plane is a corresponding first intersection line, wherein the multiple first virtual planes are parallel to each other and to the rotation axis, and the first intersection line provided in this embodiment is a straight line. Since the shape of the first reflection surface 2311 needs to ensure a high degree of accuracy, the specific shape design of the first reflection surface 2311 can be simplified.

[0044] In a specific embodiment, the first intersection line provided in this embodiment is a curve that is concave toward the direction close to the inside of the rotating mirror assembly 23 at least at the corresponding first landing point, or the first intersection line provided in this embodiment is a curve that is concave toward the direction close to the inside of the rotating mirror assembly 23 as a whole. Since the detection light beam emitted by the emitting assembly 21 generally has a certain divergence angle, rather than being a completely absolutely parallel light beam, it may cause the energy of the detection light beam to decay rapidly after being reflected by the first reflecting surface 2311. In this regard, the first reflecting surface 2311 is set to be concave toward the direction close to the inside of the rotating mirror assembly 23 at least at the first landing point or as a whole, so that the first reflecting surface 2311 can produce a certain focusing effect on the detection light beam emitted by the emitting assembly 21, and also make the first reflecting surface 2311 have a better correction effect on the shape of the scanning landing point trajectory of the detection light beam in the target external environment.

[0045] In another embodiment, a corresponding second virtual plane is defined through each first landing point on the first landing point trajectory and through the rotation axis, and the intersection line between the first reflection surface 2311 and each second virtual plane is the corresponding second intersection line. The second intersection line provided in this embodiment is a straight line. Since the shape of the first reflection surface 2311 needs to ensure a high degree of accuracy, the specific shape design of the first reflection surface 2311 can be simplified.

[0046] In another embodiment, the second intersection line provided in this embodiment is a curve that is concave toward the direction close to the inside of the rotating mirror assembly 23 at least at the corresponding first landing point, or the second intersection line provided in this embodiment is a curve that is concave toward the direction close to the inside of the rotating mirror assembly 23 as a whole. Since the detection light beam emitted by the emitting assembly 21 generally has a certain divergence angle, rather than being a completely absolutely parallel light beam, it may cause the energy of the detection light beam to decay rapidly after being reflected by the first reflecting surface 2311. In this regard, the first reflecting surface 2311 is set to be concave toward the direction close to the inside of the rotating mirror assembly 23 at least at the first landing point or as a whole, so that the first reflecting surface 2311 can produce a certain focusing effect on the detection light beam emitted by the emitting assembly 21, and also make the first reflecting surface 2311 have a better correction effect on the shape of the scanning landing point trajectory of the detection light beam in the target external environment.

[0047] See also Figure 2 , Figure 5 and Figure 6As shown, in a specific embodiment, the upper end of the edge of the first side of the first reflecting surface 2311 in this embodiment has a first vertex 41, the lower end of the edge of the first side of the first reflecting surface 2311 has a second vertex 42, the upper end of the edge of the second side of the first reflecting surface 2311 has a third vertex 43, and the lower end of the edge of the second side of the first reflecting surface 2311 has a fourth vertex 44; wherein, a first initial virtual plane 45 is defined by the first vertex 41, the second vertex 42 and the third vertex 43, the first initial virtual plane is inclined relative to the rotation axis, and the fourth vertex 44 is located on the side of the first initial virtual plane 45 away from the rotating mirror assembly 23 and is spaced from the first initial virtual plane 45; wherein, the first reflecting surface 2311 is a smooth curved surface. By setting the fourth vertex 44 to be located on the side of the first initial virtual plane 45 away from the rotating mirror assembly 23, and setting the fourth vertex 44 to be spaced apart from the first initial virtual plane 45, the inclination of the second side of the first reflecting surface 2311 relative to the rotation axis of the rotating mirror assembly 23 can be smaller than the inclination of the first side of the first reflecting surface 2311 relative to the rotation axis of the rotating mirror assembly 23. At the same time, by setting the first reflecting surface 2311 to a smooth curved surface, the inclination of the first reflecting surface 2311 relative to the rotation axis of the rotating mirror assembly 23 can be gradually reduced from the first side to the second side of the first reflecting surface 2311.

[0048] In another embodiment, the first reflecting surface 2311 provided in this embodiment has a first vertex 41 on the upper end of the edge of the first side, a second vertex 42 on the lower end of the edge of the first side of the first reflecting surface 2311, a third vertex 43 on the upper end of the edge of the second side of the first reflecting surface 2311, and a fourth vertex 44 on the lower end of the edge of the second side of the first reflecting surface 2311; wherein, a second initial virtual plane is defined by the first vertex 41, the second vertex 42 and the fourth vertex 44, the second initial virtual plane is inclined relative to the rotation axis, and the third vertex 43 is located on the side of the second initial virtual plane close to the rotating mirror assembly 23 and is separated from the second initial virtual plane; wherein, the first reflecting surface 2311 is a smooth curved surface. By setting the third vertex 43 to be located on a side of the second initial virtual plane close to the rotating mirror assembly 23 and setting the third vertex 43 to be spaced apart from the second initial virtual plane, the inclination of the second side of the first reflecting surface 2311 relative to the rotation axis of the rotating mirror assembly 23 can be made smaller than the inclination of the first side of the first reflecting surface 2311 relative to the rotation axis of the rotating mirror assembly 23. At the same time, by setting the first reflecting surface 2311 to a smooth curved surface, the inclination of the first reflecting surface 2311 relative to the rotation axis of the rotating mirror assembly 23 can be made to gradually decrease from the first side to the second side of the first reflecting surface 2311.

[0049] See also Figure 7As shown, in another embodiment, the upper end of the edge of the first side of the first reflecting surface 2311 provided in this embodiment has a first vertex 41, the lower end of the edge of the first side of the first reflecting surface 2311 has a second vertex 42, the upper end of the edge of the second side of the first reflecting surface 2311 has a third vertex 43, the lower end of the edge of the second side of the first reflecting surface 2311 has a fourth vertex 44, and the middle part of the edge of the second side of the first reflecting surface 2311 has a fifth edge point; wherein, a third initial virtual plane 46 is defined by the first vertex 41, the second vertex 42 and the fifth edge point, the initial virtual plane is inclined relative to the rotation axis, the third vertex 43 is located on the side of the third initial virtual plane 46 close to the rotating mirror assembly 23 and is separated from the third initial virtual plane 46, and the fourth vertex 44 is located on the side of the third initial virtual plane 46 away from the rotating mirror assembly 23 and is separated from the third initial virtual plane 46; wherein, the first reflecting surface 2311 is a smooth curved surface. The third vertex 43 is set to be located on the side of the third initial virtual plane 46 close to the rotating mirror assembly 23, the fourth vertex 44 is set to be located on the side of the third initial virtual plane 46 away from the rotating mirror assembly 23, and the third vertex 43 and the fourth vertex 44 are respectively spaced apart from the third initial virtual plane 46, so that the inclination of the second side of the first reflecting surface 2311 relative to the rotation axis of the rotating mirror assembly 23 can be smaller than the inclination of the first side of the first reflecting surface 2311 relative to the rotation axis of the rotating mirror assembly 23. At the same time, the first reflecting surface 2311 is set to be a smooth curved surface, so that the inclination of the first reflecting surface 2311 relative to the rotation axis of the rotating mirror assembly 23 can gradually decrease from the first side to the second side of the first reflecting surface 2311.

[0050] See also Figure 8 and Fig. 9As shown, in a specific embodiment, the target external environment in this embodiment has a first detection plane, the optical ranging device has a preset height relative to the first detection plane, the detection light beam is reflected by the first reflection surface 2311 and irradiated to the first detection plane, and the detection light beam irradiated to the first detection plane has a preset effective scanning field of view; the landing point of the detection light beam on the first detection plane is the second landing point, and when the detection light beam is within the preset effective scanning field of view and the rotating mirror assembly 23 rotates relative to the emitting assembly 21, the set of multiple second landing points is a second landing point trajectory; the second landing point trajectory is located in a rectangular area with a preset length and a preset width on the first detection plane, and there is a preset distance between the projection of the optical ranging device on the first detection plane and the rectangular area. The second landing point trajectory is set to be located on the first detection plane and has a preset length and a preset width in a rectangular area which is at a preset distance from the projection of the optical ranging device on the first detection plane, so that the detection light beam can achieve more accurate coverage on the first detection plane, and the optical ranging device can scan the target more regularly and orderly at close range, which helps the optical ranging device to obtain the geometric shape and position information of the target in more detail. In addition, in the close-range detection scenario, there are many external interference factors. Setting the target trajectory curve in the rectangular area can reduce unnecessary interference by controlling the scanning range. At the same time, due to the regular scanning area, it is also easier to identify and filter interference signals through algorithms, thereby enhancing the anti-interference ability of the optical ranging device in near-field detection.

[0051] In an optional embodiment, the first detection plane provided in this embodiment is a plane perpendicular to the rotation axis of the rotating mirror assembly 23. Of course, in other embodiments, the first detection plane provided in this embodiment may also be the ground.

[0052] In an optional embodiment, the optical distance measuring device provided in this embodiment is located above the first detection plane.

[0053] In a specific embodiment, the preset effective scanning field of view provided in this embodiment can be a part intercepted by the control program from the entire scanning range of the outgoing light beam reflected by the first reflecting surface 2311, or it can be a part limited by the light-transmitting portion, that is, a part passing through the light-transmitting portion to reach the external environment.

[0054] In a specific embodiment, the second landing point trajectory in this embodiment is a straight line; when the second landing point trajectory is a straight line, since the geometric relationship of the straight line scanning is simple and clear, the second landing point distribution of the detection light beam on the first detection surface is relatively uniform. Therefore, for small targets at close range, their position and distance on the straight line can be determined more accurately, thereby improving the near-field target detection accuracy of the light ranging device. In addition, when the second landing point trajectory is a straight line, the relationship between the scanning angle of the optical ranging device and the distance data obtained by the detection light beam is relatively simple. Therefore, compared with complex curve scanning, when converting the scanning data into actual spatial positions, there is no need to consider complex nonlinear factors, which helps to improve the speed of near-field data processing of the optical ranging device.

[0055] In another embodiment, the second landing point trajectory in this embodiment is a curve. In the case where the second landing point trajectory is a curve, since the curve trajectory can cover a wider area, the shape and range of the curve can be reasonably designed to enable the optical ranging device to effectively expand the detection range of the surrounding environment without adding hardware equipment, thereby better sensing objects at long distances and in edge areas, discovering potential dangers in advance, and also reducing the requirements for the shape accuracy of the first reflective surface 2311.

[0056] In an optional embodiment, the second landing point trajectory provided in this embodiment is a wavy line or an arc line.

[0057] In a specific embodiment, the preset height in this embodiment is a, a≤80mm. The height of mainstream cleaning robots on the market is generally less than 80mm, that is, the optical distance measuring device can be set inside the cleaning robot instead of protruding from the top of the cleaning robot. Specifically, a can be 70mm, 65mm, 60mm, 55mm, 50mm, 45mm, 40mm, etc.

[0058] In a specific embodiment, the angle of the preset effective scanning field of view in this embodiment is b, 80°≤b≤150°. Specifically, b can be 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, etc.

[0059] In a specific embodiment, the preset width in this embodiment is c, c≤20 mm. Specifically, c can be 20 mm, 15 mm, 10 mm, 5 mm, etc.

[0060] In a specific embodiment, the preset distance in this embodiment is d, 100 mm ≤ d ≤ 200 mm. Specifically, d can be 100 mm, 120 mm, 140 mm, 160 mm, 180 mm, 200 mm, etc.

[0061] In an optional embodiment, the optical ranging device has a preset height relative to the first detection plane, and the detection light beam is reflected by the first initial virtual plane 45 or the second initial virtual plane or the third initial virtual plane 46 and irradiates the first detection plane. The detection light beam irradiated to the first detection plane has a preset effective scanning field of view, and the angle of the preset effective scanning field of view is b; the detection light beam reflected by the first initial virtual plane 45 or the second initial virtual plane or the third initial virtual plane 46 to the first detection plane, the landing point on the first detection plane is the third landing point. When the detection light beam is within the preset effective scanning field of view and the rotating mirror assembly 23 rotates relative to the emitting assembly 21, the collection of multiple third landing points is the third landing point trajectory, see Figure 4 As shown, the second landing point trajectory is e and the third landing point trajectory is f.

[0062] See also Figure 3 As shown, in a specific embodiment, a third reflection surface 2321 is provided on the rotating mirror assembly 23 in this embodiment, and the third reflection surface 2321 is parallel to the rotation axis and is used to reflect the detection light beam, so as to change the irradiation angle of the detection light beam during the rotation of the rotating mirror assembly 23, so that the detection light beam can be irradiated to the target external environment, and the third reflection surface 2321 and the first reflection surface 2311 are arranged along the circumference of the rotating mirror assembly 23. The third reflection surface 2321 parallel to the rotation axis is provided on the rotating mirror assembly 23, so that the detection light beam passes through the third reflection surface 2321, so that the detection light beam emitted by the emitting assembly 21 can be reflected by the third reflection surface 2321 provided on the rotating mirror assembly 23 during the rotation of the rotating mirror assembly 23, thereby changing the irradiation angle of the detection light beam, so that the detection light beam can be irradiated to the target external environment.

[0063] See also Figure 2 As shown, in a specific embodiment, the optical ranging unit 20 in this embodiment also includes a receiving component 22, and the receiving component 22 is used to receive a detection light beam reflected from the target external environment back to the optical ranging device. A second reflecting surface 2331 is provided on the rotating mirror component 23, and the detection light beam emitted to the target external environment via the first reflecting surface 2311 can be reflected to the receiving component 22 via the second reflecting surface 2331 when it is reflected from the target external environment back to the optical ranging device; by providing the second reflecting surface 2331 on the rotating mirror component 23, the detection light beam emitted to the external environment via the first reflecting surface 2311 can be reflected back to the receiving component 22 via the second reflecting surface 2331 when it is reflected from the external environment back to the optical ranging device, thereby realizing detection of the external environment.

[0064] In a specific embodiment, the second reflecting surface 2331 in this embodiment is a plane, and the second reflecting surface 2331 is arranged parallel to or at an angle to the rotation axis; since the detection light beam of the target external environment is reflected back to the optical ranging device by diffuse reflection, setting the second reflecting surface 2331 as a plane parallel to or at an angle to the rotation axis can meet the reception requirements for the detection light beam to a certain extent, and can also reduce the production and processing costs of the optical ranging device.

[0065] In another embodiment, the inclination of the second reflecting surface 2331 in this embodiment relative to the rotation axis gradually decreases from the first side of the second reflecting surface 2331 to the second side of the second reflecting surface 2331; when the first reflecting surface 2311 can reflect the detection beam to the target external environment, the side of the second reflecting surface 2331 close to the receiving component 22 is the first side of the second reflecting surface 2331, and the side of the second reflecting surface 2331 away from the receiving component 22 is the second side of the second reflecting surface 2331. The inclination of the second reflecting surface 2331 relative to the rotation axis is set to gradually decrease from the first side of the second reflecting surface 2331 to the second side of the second reflecting surface 2331, which can improve the receiving effect of the second reflecting surface 2331 for the detection beam irradiated to the target external environment and reflected back to the optical distance measuring device through the first reflecting surface 2311 to a certain extent. Among them, the specific implementation of the shape of the second reflecting surface 2331 can refer to the specific implementation of the first reflecting surface 2311 mentioned above, but the shape of the second reflecting surface 2331 can be the same as or different from the shape of the corresponding first reflecting surface 2311.

[0066] In an optional embodiment, the first reflecting surface 2311 and the second reflecting surface 2331 provided in this embodiment are sequentially arranged along the axial direction of the rotating mirror assembly 23 .

[0067] In a specific embodiment, a plurality of first reflection surfaces 2311 are provided on the rotating mirror assembly 23 in this embodiment, and the plurality of first reflection surfaces 2311 are arranged along the circumference of the rotating mirror assembly 23; due to the presence of the plurality of first reflection surfaces 2311, during the process of the rotating mirror assembly 23 rotating one circle, the detection light beam can be reflected by the first reflection surface 2311 more times, and this higher scanning frequency enables the optical ranging device to obtain information about the surrounding environment more quickly, and the plurality of first reflection surfaces 2311 provide a redundancy mechanism, if one of the plurality of first reflection surfaces 2311 is damaged or contaminated, the other first reflection surfaces 2311 can still work normally, thereby ensuring that the basic function of the optical ranging device is not greatly affected, thereby improving the reliability of the optical ranging device.

[0068] In an optional embodiment, the multiple first reflection surfaces 2311 provided in this embodiment are arranged at intervals along the circumference of the rotating mirror assembly 23, or the multiple first reflection surfaces 2311 are arranged in sequence along the circumference of the rotating mirror assembly 23.

[0069] In an optional embodiment, the rotating mirror assembly 23 provided in this embodiment is provided with a plurality of second reflecting surfaces 2331, and the plurality of second reflecting surfaces 2331 correspond one to one with the plurality of first reflecting surfaces 2311. When the detection light beam emitted to the external environment through one of the plurality of first reflecting surfaces 2311 is reflected back to the optical distance measuring device from the external environment, it can be reflected back to the receiving assembly 22 through the second reflecting surface 2331 corresponding to the first reflecting surface 2311, thereby realizing detection of the external environment.

[0070] In a specific embodiment, a plurality of third reflection surfaces 2321 are provided on the rotating mirror assembly 23 in this embodiment, and the plurality of third reflection surfaces 2321 are arranged along the circumference of the rotating mirror assembly 23; due to the presence of the plurality of third reflection surfaces 2321, during the process of the rotating mirror assembly 23 rotating one circle, the detection light beam can be reflected by the third reflection surface 2321 more times, and this higher scanning frequency enables the optical ranging device to obtain information about the surrounding environment more quickly, and the plurality of third reflection surfaces 2321 provide a redundancy mechanism, if one of the plurality of third reflection surfaces 2321 is damaged or contaminated, the other third reflection surfaces 2321 can still work normally, thereby ensuring that the basic function of the optical ranging device is not greatly affected, thereby improving the reliability of the optical ranging device.

[0071] In an optional embodiment, the multiple third reflection surfaces 2321 provided in this embodiment are arranged at intervals along the circumference of the rotating mirror assembly 23, or the multiple third reflection surfaces 2321 are arranged in sequence along the circumference of the rotating mirror assembly 23.

[0072] See also Figure 3 As shown, in a specific embodiment, the optical distance measuring unit 20 in this embodiment further includes a receiving component 22, and the receiving component 22 is used to receive the detection light beam reflected from the external environment to the optical distance measuring device. The rotating mirror component 23 is provided with a fourth reflection surface 2341, and the detection light beam emitted to the external environment via the third reflection surface 2321 can be reflected to the receiving component 22 via the fourth reflection surface 2341 when it is reflected back to the optical distance measuring device from the external environment. By providing the fourth reflection surface 2341 on the rotating mirror component 23, the detection light beam emitted to the external environment via the third reflection surface 2321 can be reflected back to the receiving component 22 via the fourth reflection surface 2341 when it is reflected back to the optical distance measuring device from the external environment, thereby realizing the detection of the external environment.

[0073] In an optional embodiment, the third reflection surface 2321 and the fourth reflection surface 2341 provided in this embodiment are sequentially arranged along the axial direction of the rotating mirror assembly 23 .

[0074] In an optional embodiment, the fourth reflection surface 2341 provided in this embodiment is parallel to the rotation axis of the rotating mirror assembly 23 .

[0075] In an optional embodiment, the rotating mirror assembly 23 provided in this embodiment is provided with a plurality of fourth reflection surfaces 2341, and the plurality of fourth reflection surfaces 2341 correspond one-to-one to the plurality of third reflection surfaces 2321. When the detection light beam emitted to the external environment through one of the plurality of third reflection surfaces 2321 is reflected back to the optical distance measuring device from the external environment, it can be reflected back to the receiving assembly 22 through the fourth reflection surface 2341 corresponding to the third reflection surface 2321, thereby realizing detection of the external environment.

[0076] In a specific embodiment, the detection light beam emitted from the transmitting component 21 to the first reflection surface 2311 or the third reflection surface 2321 in this embodiment extends in a direction perpendicular to the rotation axis; the detection light beam emitted from the transmitting component 21 to the first reflection surface 2311 or the third reflection surface 2321 is set to extend in a direction perpendicular to the rotation axis, so that the optical ranging device can achieve long-distance scanning in the horizontal direction when the rotation axis of the rotating mirror assembly 23 is perpendicular to the horizontal plane and the detection light beam is emitted through the third reflection surface 2321.

[0077] In an optional embodiment, the target external environment provided in this embodiment has a second detection plane, and the direction of the detection light beam after being reflected by the third reflection surface 2321 is horizontal. When the rotating mirror assembly 23 rotates relative to the emitting assembly 21, the detection light beam can be reflected by the third reflection surface 2321 to obtain the second detection plane, thereby realizing long-distance scanning in the horizontal direction.

[0078] In a specific embodiment, the detection light beam irradiated to the target external environment in this embodiment has a preset effective scanning field of view, and the detection light beam emitted from the transmitting component 21 to the first reflecting surface 2311 or the third reflecting surface 2321 is perpendicular to the mid-plane of the preset effective scanning field of view; the detection light beam emitted from the transmitting component 21 to the first reflecting surface 2311 or the third reflecting surface 2321 is set to be perpendicular to the mid-plane of the preset effective scanning field of view, which can simplify the structure of the optical system formed by the rotating mirror component 23, the transmitting component 21 and the receiving component 22 to a certain extent, and does not require complex optical elements to adjust the incident angle of the light beam to the rotating mirror, reducing the need for special angle refraction or reflection optical components, and also facilitating the arrangement of the optical ranging device on the mobile robot.

[0079] In an optional embodiment, the shell part 10 provided in this embodiment includes a base 11 and an upper cover 12, the upper cover 12 is installed on the base 11, and an accommodating cavity is formed between the upper cover 12 and the base 11, and the transmitting component 21, the receiving component 22 and the rotating mirror component 23 are all located in the accommodating cavity.

[0080] In an optional embodiment, the light-transmitting portion provided in this embodiment includes a light-transmitting window 111 , which is disposed on the upper cover 12 or the base 11 , and is formed by a light-transmitting side wall of the upper cover 12 or the base 11 .

[0081] In a specific embodiment, the optical ranging device in this embodiment also includes a driving unit 30, which is installed on the shell portion 10, and the output end of the driving unit 30 is drivingly connected to the rotating mirror assembly 23, so as to drive the rotating mirror assembly 23 to rotate relative to the shell portion 10; by installing the driving unit 30 on the shell portion 10 and making the output end of the driving unit 30 drivingly connected to the rotating mirror assembly 23, the rotating mirror assembly 23 can rotate relative to the shell portion 10 under the drive of the driving unit 30.

[0082] In an optional embodiment, the transmitting component 21 and the receiving component 22 in this embodiment are arranged in sequence along the axial direction of the rotating mirror assembly 23, the position of the transmitting component 21 corresponds to the position of the first reflecting surface 2311 or the third reflecting surface 2321, and the position of the receiving component 22 corresponds to the position of the second reflecting surface 2331 or the fourth reflecting surface 2341.

[0083] In an optional embodiment, the rotating mirror assembly 23 provided in this embodiment includes a rotating mirror bracket 235, a first reflector 231, a second reflector 232, a third reflector 233 and a fourth reflector 234. The first reflector 231, the second reflector 232, the third reflector 233 and the fourth reflector 234 are all installed on the rotating mirror bracket 235. A first reflecting surface 2311 is provided on the side of the first reflector 231 away from the rotating mirror bracket 235, a third reflecting surface 2321 is provided on the side of the second reflector 232 away from the rotating mirror bracket 235, a second reflecting surface 2331 is provided on the side of the third reflector 233 away from the rotating mirror bracket 235, and a fourth reflecting surface 2341 is provided on the side of the fourth reflector 234 away from the rotating mirror bracket 235.

[0084] See also Figure 8 and Fig. 9 As shown, according to another aspect of the present application, a mobile robot is provided, the mobile robot includes an optical ranging device, and the optical ranging device is the optical ranging device mentioned above.

[0085] In an optional embodiment, the front-to-back direction of the mobile robot provided in this embodiment is parallel to the median plane of the preset effective scanning field of view.

[0086] In summary, the implementation of the optical ranging device and the mobile robot provided in this embodiment has at least the following beneficial technical effects: the optical ranging device provided in this embodiment sets the rotating mirror assembly 23 to be able to rotate around the rotation axis relative to the transmitting assembly 21, so that the detection light beam emitted by the transmitting assembly 21 can be reflected by the first reflection surface 2311 set on the rotating mirror assembly 23 during the rotation of the rotating mirror assembly 23, thereby changing the irradiation angle of the detection light beam, so that the detection light beam can be irradiated into the target external environment. At the same time, the landing point of the detection light beam on the plane perpendicular to the rotation axis of the rotating mirror assembly 23 and intersecting with the detection light beam in the target external environment can be gathered into a scanning landing point trajectory during the rotation of the rotating mirror assembly 23, and the inclination of the first reflection surface 2311 relative to the rotation axis is set to gradually decrease from the first side of the first reflection surface 2311 to the second side of the first reflection surface 2311, so that the shape of the scanning landing point trajectory can be corrected, so that the distance from any position on the scanning landing point trajectory to the optical ranging device is within an acceptable range, thereby improving the close-range detection effect of the optical ranging device.

[0087] 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: An optical distance measuring unit (20), the optical distance measuring unit (20) comprising a transmitting assembly (21) and a rotating mirror assembly (23), the transmitting assembly (21) being used to transmit a detection light beam, and the rotating mirror assembly (23) being capable of rotating around a rotation axis relative to the transmitting assembly (21); The rotating mirror assembly (23) is provided with a first reflecting surface (2311), and the first reflecting surface (2311) is used to reflect the detection light beam, so as to change the irradiation angle of the detection light beam during the rotation of the rotating mirror assembly (23), so that the detection light beam can irradiate the target external environment, and the inclination of the first reflecting surface (2311) relative to the rotation axis gradually decreases from the first side of the first reflecting surface (2311) to the second side of the first reflecting surface (2311); When the first reflecting surface (2311) is capable of reflecting the detection light beam to the target external environment, the side of the first reflecting surface (2311) close to the transmitting component (21) is the first side of the first reflecting surface (2311), and the side of the first reflecting surface (2311) away from the transmitting component (21) is the second side of the first reflecting surface (2311).

2. The optical distance measuring device according to claim 1, characterized in that: The detection light beam emitted from the emitting assembly (21) to the first reflecting surface (2311) is an incident light beam; the landing point of the incident light beam on the first reflecting surface (2311) is a first landing point, and during the rotation of the rotating mirror assembly (23), a collection of a plurality of the first landing points is a first landing point trajectory; Each corresponding tangent plane of the first reflecting surface at each first landing point on the first landing point trajectory has a corresponding first inclination angle with the rotation axis, and the magnitude of the first inclination angle is the inclination of the first reflecting surface relative to the rotation axis; the magnitude of the first inclination angle gradually decreases from the first side of the first reflecting surface (2311) to the second side of the first reflecting surface (2311); Or, a corresponding first virtual plane is defined through each of the first landing points on the first landing point trajectory, and the intersection line between the first reflecting surface (2311) and each of the first virtual planes is a corresponding first intersection line, wherein a plurality of the first virtual planes are parallel to each other and to the rotation axis; a plurality of the first intersection lines have corresponding second inclination angles with the rotation axis, or a plurality of the first intersection lines have corresponding second inclination angles between tangent lines at the corresponding first landing points and the rotation axis, and the magnitude of the second inclination angle is the inclination of the first reflecting surface relative to the rotation axis; the magnitude of the second inclination angle gradually decreases from the first side of the first reflecting surface (2311) to the second side of the first reflecting surface (2311); Or, a corresponding second virtual plane is defined through each of the first landing points on the first landing point trajectory and through the rotation axis, and the intersection line between the first reflecting surface (2311) and each of the second virtual planes is a corresponding second intersection line; a plurality of the second intersection lines have corresponding third inclination angles with the rotation axis, or a plurality of the second intersection lines have corresponding third inclination angles between tangent lines at the corresponding first landing points and the rotation axis, and the magnitude of the third inclination angle is the inclination of the first reflecting surface relative to the rotation axis; the magnitude of the third inclination angle gradually decreases from the first side of the first reflecting surface (2311) to the second side of the first reflecting surface (2311).

3. The optical distance measuring device according to claim 2, characterized in that: A corresponding first virtual plane is defined through each of the first landing points on the first landing point trajectory, and an intersection line between the first reflecting surface (2311) and each of the first virtual planes is a corresponding first intersection line, wherein a plurality of the first virtual planes are parallel to each other and to the rotation axis, and the first intersection line is a straight line, or the first intersection line is a curve that is concave toward a direction close to the interior of the rotating mirror assembly (23) at least at the corresponding first landing point, or the first intersection line is a curve that is concave toward a direction close to the interior of the rotating mirror assembly (23) as a whole; Alternatively, a corresponding second virtual plane is defined through each of the first landing points on the first landing point trajectory and through the rotation axis, and an intersection line between the first reflecting surface (2311) and each of the second virtual planes is a corresponding second intersection line, and the second intersection line is a straight line, or the second intersection line is a curve that is concave in a direction close to the interior of the rotating mirror assembly (23) at least at the corresponding first landing point, or the second intersection line is a curve that is concave in a direction close to the interior of the rotating mirror assembly (23) as a whole.

4. The optical distance measuring device according to any one of claims 1, characterized in that: The upper end of the edge of the first side of the first reflecting surface has a first vertex (41), the lower end of the edge of the first side of the first reflecting surface has a second vertex (42), the upper end of the edge of the second side of the first reflecting surface has a third vertex (43), and the lower end of the edge of the second side of the first reflecting surface has a fourth vertex (44); wherein a first initial virtual plane (45) is defined by the first vertex (41), the second vertex (42) and the third vertex (43); the first initial virtual plane (45) is tilted relative to the rotation axis; and the fourth vertex (44) is located on a side of the first initial virtual plane (45) away from the rotating mirror assembly and is spaced apart from the first initial virtual plane (45); Wherein, the first reflecting surface is a smooth curved surface.

5. The optical distance measuring device according to any one of claims 1 to 4, characterized in that: The target external environment has a first detection plane, the optical distance measuring device has a preset height relative to the first detection plane, the detection light beam is reflected by the first reflection surface (2311) and irradiates the first detection plane, and the detection light beam irradiated to the first detection plane has a preset effective scanning field of view; The landing point of the detection light beam on the first detection plane is a second landing point, and when the detection light beam is within the preset effective scanning field of view and the rotating mirror assembly (23) rotates relative to the emitting assembly (21), a collection of a plurality of the second landing points is a second landing point trajectory; The second landing point trajectory is located in a rectangular area with a preset length and a preset width on the first detection plane, and there is a preset distance between the projection of the optical ranging device on the first detection plane and the rectangular area.

6. The optical distance measuring device according to claim 5, characterized in that: The second landing point trajectory is a straight line or a curve; And / or, the preset height is a, a≤80mm; And / or, the preset effective scanning field of view has an angle b, 80°≤b≤150°; And / or, the preset width is c, c≤20 mm; And / or, the preset distance is d, 100mm≤d≤200mm.

7. The optical distance measuring device according to any one of claims 1 to 4, characterized in that: The optical distance measuring unit (20) further comprises a receiving component (22), the receiving component (22) being used to receive a detection light beam reflected from the target external environment back to the optical distance measuring device, the rotating mirror component (23) being provided with a second reflection surface (2331), the detection light beam emitted to the target external environment via the first reflection surface (2311), when reflected from the target external environment back to the optical distance measuring device, can be reflected to the receiving component (22) via the second reflection surface (2331); The second reflecting surface (2331) is a plane, and the second reflecting surface is arranged parallel to or at an angle to the rotation axis; Or, the inclination of the second reflecting surface (2331) relative to the rotation axis gradually decreases from the first side of the second reflecting surface (2331) to the second side of the second reflecting surface (2331); when the first reflecting surface (2311) is capable of reflecting the detection light beam to the target external environment, the side of the second reflecting surface (2331) close to the receiving component (22) is the first side of the second reflecting surface (2331), and the side of the second reflecting surface (2331) away from the receiving component (22) is the second side of the second reflecting surface (2331); wherein the shape of the second reflecting surface is the same as or different from the shape of the corresponding first reflecting surface.

8. The optical distance measuring device according to any one of claims 1 to 4, characterized in that: The rotating mirror assembly (23) is provided with a third reflecting surface (2321), the third reflecting surface (2321) is parallel to the rotation axis, and is used to reflect the detection light beam, so as to change the irradiation angle of the detection light beam during the rotation of the rotating mirror assembly (23), so that the detection light beam can irradiate the target external environment, and the third reflecting surface (2321) and the first reflecting surface (2311) are arranged along the circumference of the rotating mirror assembly (23).

9. The optical distance measuring device according to claim 8, characterized in that: The rotating mirror assembly (23) is provided with a plurality of first reflecting surfaces (2311), and the plurality of first reflecting surfaces (2311) are arranged along the circumference of the rotating mirror assembly (23); And / or, a plurality of third reflection surfaces (2321) are provided on the rotating mirror assembly (23), and the plurality of third reflection surfaces (2321) are arranged along the circumference of the rotating mirror assembly (23); and / or, the detection light beam emitted from the emitting component (21) to the first reflecting surface (2311) or the third reflecting surface (2321) extends in a direction perpendicular to the rotation axis; And / or, the detection light beam irradiated to the target external environment has a preset effective scanning field of view, and the detection light beam emitted from the emitting component (21) to the first reflecting surface (2311) or the third reflecting surface (2321) is perpendicular to the median plane of the preset effective scanning field of view; And / or, the optical distance measuring unit (20) further comprises a receiving component (22), the receiving component (22) being used to receive a detection light beam reflected from the external environment back to the optical distance measuring device, the rotating mirror component (23) being provided with a fourth reflection surface, and the detection light beam emitted to the external environment via the third reflection surface can be reflected to the receiving component (22) via the fourth reflection surface when it is reflected from the external environment back to the optical distance measuring device.

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

Images