Optical distance measuring device and mobile robot

Abstract

The invention is applicable to the technical field of optical ranging, and provides an optical ranging device and a mobile robot, and the optical ranging device comprises a base, a rotating mirror module and an optical machine module. The rotating mirror module is rotatably mounted on the base around a vertical rotating axis, and the rotating mirror module is provided with a first reflecting surface and a second reflecting surface which are sequentially arranged in the circumferential direction around the vertical rotating axis. The light machine module is installed on the base and located on one side of the vertical rotating axis in the direction in which the detection light beam is emitted to the outside. The light machine module is used for emitting the detection light beam to the rotating mirror module and receiving the detection light beam reflected by the outside. And the first reflecting surface is used for horizontally reflecting the detection light beam to the outside so as to meet the requirement of long-distance scanning detection. The second reflecting surface is used for obliquely and downwards reflecting the detection light beam to the outside, and a complete scanning track formed by the detection light beam reflected by the second reflecting surface to the outside can be basically distributed near the optical distance measuring device so as to meet the short-distance scanning detection requirement.

Description

Technical Field

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

[0002] As an advanced detection technology, laser radar has broad application prospects in the fields of autonomous driving and robots. As a major type of laser radar, semi-solid laser radar mainly includes a laser transceiver module and a rotating mirror module. The laser transceiver module is used to emit a light beam to the rotating mirror module, and the light beam is reflected to the outside through the rotating mirror module to scan external obstacles. When the light beam scans an external obstacle, the external obstacle reflects the light beam back to the rotating mirror module, and the light beam reflected by the external obstacle is reflected back to the optical machine module through the rotating mirror module to be received by the optical machine module, so that the semi-solid laser radar can locate the external obstacle.

[0003] However, the rotating mirror modules in most current semi-solid laser radars can only reflect the light beam horizontally to the outside world to scan and locate distant obstacles. Although a small number of semi-solid laser radars have an inclined reflective surface set on the rotating mirror module to emit the light beam downward through the reflective surface to scan and locate close-range obstacles; however, in practical applications, such as when this type of semi-solid laser radar is applied to robots, Figure 1 As shown, Figure 1 The middle curve l3 represents the scanning trajectory formed outside the robot 30 after the light beam is reflected by the inclined reflection surface to the outside of the robot 30. Figure 1 It can be seen that the scanning trajectory formed by the light beam reflected by the above-mentioned inclined reflecting surface in the outside world is actually that one end is close to the robot 30, and the other end is getting farther and farther away from the robot 30. In this way, it is impossible to accurately locate close-range obstacles, that is, it is impossible to meet close-range detection needs. 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 in the prior art that laser radar cannot meet the needs of long-distance detection and short-distance detection at the same time.

[0005] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide an optical distance measuring device and a mobile robot, including a rotating mirror module and an optical machine module, wherein the rotating mirror module can rotate relative to the optical machine module around a vertical rotation axis, and the rotating mirror module has a first reflection surface and a second reflection surface sequentially arranged in the circumferential direction around the vertical rotation axis; the optical machine module is located on one side of the vertical rotation axis in the first horizontal direction, wherein the first horizontal direction is perpendicular to the vertical rotation axis. The optical machine module is used to emit a detection beam to the rotating mirror module, the first reflection surface is used to reflect the detection beam horizontally to the outside world, the second reflection surface is used to reflect the detection beam obliquely downward to the outside world, and the optical machine module is also used to receive the detection beam reflected back by the outside world; the detection beam has a first scanning range after being reflected by the first reflection surface, and the detection beam has a second scanning range after being reflected by the second reflection surface, and the first scanning range and the second scanning range are both located on one side of the rotating mirror module in the first horizontal direction.

[0006] In one possible design, the optical machine module includes a transmitter and a receiver, the transmitter is used to transmit the detection light beam to the rotating mirror module, and the receiver is used to receive the detection light beam reflected by the outside and not reflected by the first reflection surface or the second reflection surface.

[0007] In one possible design, a receiving field of view of the receiver is greater than or equal to a scanning field of view of the first scanning range, and a receiving field of view of the receiver is greater than or equal to a scanning field of view of the second scanning range.

[0008] In one possible design, the first reflecting surface is 45 degrees to the vertical rotation axis and is arranged diagonally upward, and the optical-mechanical module is used to emit the detection light beam toward the first reflecting surface in a vertical downward direction; or, the first reflecting surface is 45 degrees to the vertical rotation axis and is arranged diagonally downward, and the optical-mechanical module is used to emit the detection light beam toward the first reflecting surface in a vertical upward direction.

[0009] In a possible design, the rotating mirror module further has a third reflecting surface, and the optical machine module is used to emit the detection light beam to the third reflecting surface along a second horizontal direction, and the first horizontal direction and the second horizontal direction are opposite directions. The third reflecting surface is located below the first reflecting surface, the first reflecting surface is 45 degrees to the vertical rotation axis and the first reflecting surface is arranged diagonally downward, and the third reflecting surface is 45 degrees to the vertical rotation axis and the third reflecting surface is arranged diagonally upward; or, the third reflecting surface is located above the first reflecting surface, the first reflecting surface is 45 degrees to the vertical rotation axis and the first reflecting surface is arranged diagonally upward, and the third reflecting surface is 45 degrees to the vertical rotation axis and the third reflecting surface is arranged diagonally downward.

[0010] In one possible design, the second reflecting surface is arranged to face obliquely upward, and the maximum angle between the second reflecting surface and the vertical rotation axis is less than 45 degrees, and the optical-mechanical module is used to transmit the detection light beam to the second reflecting surface in a vertical downward direction; or, the second reflecting surface is arranged to face obliquely downward, and the minimum angle between the second reflecting surface and the vertical rotation axis is greater than 45 degrees, and the optical-mechanical module is used to transmit the detection light beam to the second reflecting surface in a vertical upward direction; or, the second reflecting surface is arranged to face obliquely downward, and the maximum angle between the second reflecting surface and the vertical rotation axis is less than 45 degrees, and the optical-mechanical module is used to transmit the detection light beam to the second reflecting surface in a second horizontal direction, and the first horizontal direction and the second horizontal direction are opposite directions to each other.

[0011] In one possible design, the second reflecting surface is a plane inclined relative to the vertical rotation axis; or, when the detection light beam emitted by the optical machine module to the rotating mirror module is emitted downward in the vertical direction, the second reflecting surface is arranged obliquely upward, and the angle between the second reflecting surface and the vertical rotation axis gradually increases from the middle of the second reflecting surface to both sides, and the maximum angle between the second reflecting surface and the vertical rotation axis is less than 45 degrees; or, when the detection light beam emitted by the optical machine module to the rotating mirror module is emitted upward in the vertical direction, the second reflecting surface is arranged obliquely downward, and the second The angle between the two reflecting surfaces and the vertical rotation axis gradually decreases from the middle of the second reflecting surface to both sides, and the minimum angle between the second reflecting surface and the vertical rotation axis is greater than 45 degrees; or, when the detection light beam emitted by the optical machine module to the rotating mirror module is emitted along the second horizontal direction, the first horizontal direction and the second horizontal direction are opposite to each other; the second reflecting surface is arranged obliquely downward, and the angle between the second reflecting surface and the vertical rotation axis gradually decreases from the middle of the second reflecting surface to both sides, and the maximum angle between the second reflecting surface and the vertical rotation axis is less than 45 degrees.

[0012] In a possible design, when the second reflecting surface is a plane inclined relative to the vertical rotation axis, the second reflecting surface is symmetrically arranged relative to the first reference plane, the first reference plane passes through a first normal of the second reflecting surface and the vertical rotation axis, and the first normal intersects the vertical rotation axis; when the angle between the second reflecting surface and the vertical rotation axis gradually decreases from the middle of the second reflecting surface to both sides, the second reflecting surface is symmetrically arranged relative to the second reference plane, the intersection of the second reflecting surface and the second reference plane is the middle of the second reflecting surface, the second reference plane passes through the vertical rotation axis and the position point on the second reflecting surface where the angle between the second reflecting surface and the vertical rotation axis is the largest; when the angle between the second reflecting surface and the vertical rotation axis gradually increases from the middle of the second reflecting surface to both sides, the second reflecting surface is symmetrically arranged relative to the third reference plane, the intersection of the second reflecting surface and the third reference plane is the middle of the second reflecting surface, the third reference plane passes through the vertical rotation axis and the position point on the second reflecting surface where the angle between the second reflecting surface and the vertical rotation axis is the smallest.

[0013] In a possible design, the detection light beam emitted by the optical machine module to the second reflective surface has a landing point on the second reflective surface, and during the rotation of the rotating mirror module, a collection of multiple landing points is a landing point trajectory;

[0014] A tangent plane corresponding to each landing point on the landing point trajectory of the second reflecting surface has a first inclination angle with the vertical rotation axis, and the first inclination angle is the angle between the second reflecting surface and the vertical rotation axis; or,

[0015] A corresponding first virtual plane is defined by each landing point on the landing point trajectory, and the first virtual planes corresponding to the multiple landing points are parallel to each other and to the vertical rotation axis, wherein the intersection line of the second reflecting surface and each of the first virtual planes is a corresponding first intersection line; each of the first intersection lines has a corresponding second inclination angle with the vertical rotation axis, or, a plurality of first intersection lines have a corresponding second inclination angle between the tangent line at the corresponding landing point and the vertical rotation axis; the second inclination angle is the angle between the second reflecting surface and the vertical rotation axis; or,

[0016] A corresponding second virtual plane is defined through each landing point on the landing point trajectory and through the vertical rotation axis, and the intersection line of the second reflecting surface and each second virtual plane is the corresponding second intersection line; a plurality of the second intersection lines have corresponding third inclination angles with the vertical rotation axis, or a plurality of the second intersection lines have corresponding third inclination angles between tangents at the corresponding landing points and the vertical rotation axis; the third inclination angle is the angle between the second reflecting surface and the vertical rotation axis.

[0017] In a possible design, the rotating mirror module further has a fourth reflecting surface, the fourth reflecting surface is located below the second reflecting surface, the second reflecting surface is arranged obliquely downward, and the fourth reflecting surface is arranged obliquely upward; or, the fourth reflecting surface is located above the second reflecting surface, the second reflecting surface is arranged obliquely upward, and the fourth reflecting surface is arranged obliquely downward. The optical machine module is used to emit the detection light beam to the fourth reflecting surface along the second horizontal direction, the first horizontal direction and the second horizontal direction are opposite directions to each other, and the fourth reflecting surface is used to reflect the detection light beam to the second reflecting surface, so that the second reflecting surface reflects the detection light beam obliquely downward to the outside.

[0018] In one possible design, the optical-mechanical module also includes a main circuit board, which is electrically connected to the transmitter and the receiver, respectively, and the transmitter and the receiver are both arranged on the main circuit board; or, the optical-mechanical module also includes a first circuit board and a second circuit board, the first circuit board is electrically connected to the transmitter and the transmitter is arranged on the first circuit board, and the second circuit board is electrically connected to the receiver and the receiver is arranged on the second circuit board.

[0019] In one possible design, when the optical-mechanical module includes a main circuit board, the receiver is located on one side of the main circuit board in the first horizontal direction, and the transmitter is located on a side of the main circuit board facing away from the receiver; or, a light-isolating structure is arranged between the transmitter and the receiver.

[0020] The present application also provides a mobile robot, comprising an optical ranging device provided by any of the above technical solutions.

[0021] The beneficial effect of the optical distance measuring device provided by the present application is that: compared with the prior art, the optical distance measuring device of the present application, by setting a first reflection surface capable of horizontally reflecting the detection light beam to the outside world on the rotating mirror module, enables the optical distance measuring device to achieve long-distance detection. Since the first scanning range and the second scanning range are both located on one side of the rotating mirror module in the first horizontal direction, wherein the side of the vertical rotation axis in the first horizontal direction also represents the side where the detection light beam is reflected by the first reflection surface or the second reflection surface and then emitted to the outside world. The optical machine module is set on one side of the vertical rotation axis in the first horizontal direction, and the rotating mirror module is provided with a second reflection surface capable of obliquely reflecting the detection light beam downward to the outside world, so that the complete scanning trajectory formed in the second scanning range after the detection light beam is reflected by the second reflection surface can be basically distributed near the optical distance measuring device, so that the optical distance measuring device can meet the needs of short-distance detection.

[0022] In summary, the optical ranging device provided by the present application can meet both long-distance detection requirements and short-distance detection requirements.

[0023] The beneficial effects of the mobile robot provided by the present application are: compared with the prior art, since the mobile robot of the present application includes the optical ranging device provided by any of the above-mentioned technical solutions, it has at least all the above-mentioned beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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 any creative work.

[0025] Figure 1 It is a schematic diagram of the structure of a robot in the prior art;

[0026] Figure 2 is a structural schematic diagram of a mobile robot provided by an embodiment of the present application;

[0027] Figure 3is a schematic diagram of a viewing angle structure of an optical distance measuring device provided by an embodiment of the present application;

[0028] Figure 4 is a schematic diagram of the optical path principle of the first reflective surface in the optical distance measuring device provided by one embodiment of the present application;

[0029] Figure 5 is a schematic diagram of a viewing angle structure of an optical distance measuring device provided by another embodiment of the present application;

[0030] Figure 6 is a schematic diagram of the optical path principle of the first reflective surface in the optical distance measuring device provided by another embodiment of the present application;

[0031] Figure 7 is a schematic diagram of a viewing angle structure of an optical distance measuring device provided by another embodiment of the present application;

[0032] Figure 8 is a schematic diagram of the optical path principle of the first reflecting surface and the third reflecting surface in the optical distance measuring device provided by another embodiment of the present application;

[0033] Fig. 9 is a schematic diagram of another viewing angle structure of an optical distance measuring device provided by an embodiment of the present application;

[0034] Fig.10 is a schematic diagram of the optical path principle of the second reflective surface in the optical distance measuring device provided by an embodiment of the present application;

[0035] Fig.11 is a schematic diagram of another viewing angle structure of an optical distance measuring device provided by another embodiment of the present application;

[0036] Fig.12 is a schematic diagram of the optical path principle of the second reflective surface in the optical distance measuring device provided by another embodiment of the present application;

[0037] Fig.13 is a schematic diagram of another viewing angle structure of an optical distance measuring device provided by yet another embodiment of the present application;

[0038] Fig.14 is a schematic diagram of the optical path principle of the second reflective surface in the optical distance measuring device provided by another embodiment of the present application;

[0039] Fig.15 is a schematic diagram of a viewing angle structure of an optical distance measuring device provided in yet another embodiment of the present application;

[0040] Fig.16 It is a schematic diagram of the optical path principle of the second reflecting surface and the fourth reflecting surface in the optical ranging device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0041] 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.

[0042] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can 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 can be directly connected to the other element or indirectly connected to the other element.

[0043] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" 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 structure 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.

[0044] 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.

[0045] It is worth noting that in the various drawings of the embodiments of the present application, the dotted arrow represents the detection light beam.

[0046] As described in the background technology, in order to obtain a downward short-range detection scanning beam, a 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 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-range detection scanning beam and a downward short-range 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 1 As shown, when the semi-solid laser radar is applied to the robot 30, the laser emitting module 31 and the laser receiving module (not shown in the figure) are generally arranged beside the rotating mirror module 32 rather than in front of it. However, if a simple inclined plane is used to reflect the detection beam, the scanning track of the reflected detection beam on the ground in front of the robot 30 (such as Figure 1 (As shown in the middle curve 13), one side is closer to the semi-solid laser radar and the other side is farther away from the semi-solid laser radar, which cannot meet the needs of close-range detection.

[0047] After further research, the inventors of the present application found that, if the limitation of the scanning range when the semi-solid laser radar is applied to the mobile robot is not taken into account, the complete scanning trajectory of the detection beam on the ground after being reflected by the forward-inclined reflective surface of the rotating mirror module (such as Figure 2 The middle curve l1 is a symmetrical curve with a shape similar to a parabola, wherein the symmetry plane of the complete scanning trajectory passes through the laser emission module, and the two sides of the complete scanning trajectory based on its symmetry plane are basically distributed near the semi-solid laser radar. Based on this, the inventor of the present application has improved the semi-solid laser radar in the prior art and designed the technical solution of the present application.

[0048] In order to illustrate the technical solution described in this application, a detailed description is given below in conjunction with specific drawings and embodiments.

[0049] like Figure 3As shown, an embodiment of the present application provides an optical distance measuring device, including a rotating mirror module 10 and an optical machine module 20. The rotating mirror module 10 can rotate around a vertical rotation axis L relative to the optical machine module 20. The rotating mirror module 10 has a first reflection surface 11 and a second reflection surface 12 arranged in sequence in the circumferential direction around the vertical rotation axis L. The optical machine module 20 is located on one side of the vertical rotation axis L in the first horizontal direction, wherein the first horizontal direction is perpendicular to the vertical rotation axis L. The optical machine module 20 is used to emit a detection beam to the rotating mirror module 10, the first reflection surface 11 is used to reflect the detection beam horizontally to the outside world, the second reflection surface 12 is used to reflect the detection beam obliquely downward to the outside world, and the optical machine module 20 is also used to receive the detection beam reflected back by the outside world. The detection beam has a first scanning range after being reflected by the first reflection surface 11, and has a second scanning range after being reflected by the second reflection surface 12. The first scanning range and the second scanning range are both located on one side of the rotating mirror module 10 in the first horizontal direction. Among them, the side of the vertical rotation axis L in the first horizontal direction also refers to the side where the detection light beam is reflected by the first reflection surface 11 or the second reflection surface 12 and emitted to the outside, and the side of the vertical rotation axis L in the first horizontal direction specifically refers to the side of the plane passing through the vertical rotation axis L and perpendicular to the first horizontal direction facing the first horizontal direction. In the various drawings provided in the embodiments of the present application, the first horizontal direction is shown as the direction indicated by a single arrow A.

[0050] During the rotation of the rotating mirror module 10 around the vertical rotation axis L, the first reflection surface 11 and the second reflection surface 12 on the rotating mirror module 10 also rotate around the vertical rotation axis L. When the first reflection surface 11 faces the optical machine module 20, as shown in FIG. Figure 3 As shown, the detection light beam emitted by the optical machine module 20 to the rotating mirror module 10 is emitted to the first reflection surface 11 and is horizontally reflected to the outside by the first reflection surface 11. As the first reflection surface 11 rotates around the vertical rotation axis L, the angle between the first reflection surface 11 and the first horizontal direction changes, so that the first reflection surface 11 can reflect the detection light beam to the outside in different horizontal directions. The horizontally emitted detection light beam is emitted at a longer distance in the outside world, so as to scan and detect a relatively far area. When the second reflection surface 12 is facing the optical machine module 20, as shown in FIG. Fig. 9 As shown, the detection light beam emitted by the optical machine module 20 to the rotating mirror module 10 is emitted onto the second reflecting surface 12 and is reflected obliquely downward by the second reflecting surface 12 to the outside world. As the second reflecting surface 12 rotates around the vertical rotation axis L, the angle between the second reflecting surface 12 and the first horizontal direction changes, so that the second reflecting surface 12 can reflect the detection light beam obliquely downward to the outside world on different sides of the vertical rotation axis L. The detection light beam emitted obliquely downward has a relatively short emission distance in the outside world, so as to perform scanning detection on relatively close areas.

[0051] For ease of description, a symmetry plane and a reference plane are defined. The symmetry plane passes through the vertical rotation axis L and is parallel to the first direction. The reference plane passes through the vertical rotation axis L and the middle of the second reflection surface 12. The detection light beam reflected to the outside through the first reflection surface 11 or the second reflection surface 12 is a reflected detection light beam. Since the optical machine module 20 is arranged on one side of the vertical rotation axis L in the first horizontal direction, the optical axis of the detection light beam emitted by the optical machine module 20 coincides with the symmetry plane. During the rotation of the second reflection surface 12 around the vertical rotation axis L, the angle between the reference plane and the symmetry plane changes. When the reference plane coincides with the symmetry plane, on the projection plane perpendicular to the vertical rotation axis L, the reflected detection light beam coincides with the projection of the symmetry plane; when the reference plane is tilted at a first angle relative to one side of the symmetry plane, on the projection plane perpendicular to the vertical rotation axis L, the angle between the projection of the reflected detection light beam and the projection of the symmetry plane is a second angle; when the reference plane is tilted at a third angle relative to the other side of the symmetry plane, on the projection plane perpendicular to the vertical rotation axis L, the angle between the projection of the reflected detection light beam and the projection of the symmetry plane is a fourth angle. If the first angle is equal to the third angle, then the second angle is equal to the fourth angle. From the above, it can be seen that during the rotation of the second reflecting surface 12 around the vertical rotation axis L, the complete scanning trajectory formed by the reflected detection light beam in the outside world is relatively evenly distributed on the opposite sides of the symmetry plane. Figure 2 As shown, the above-mentioned complete scanning trajectory is a curve with a shape similar to a parabola, and the complete scanning trajectory is roughly symmetrically distributed relative to the symmetry plane. It can be seen from this that when the optical machine module 20 is set on one side of the vertical rotation axis L in the first horizontal direction, and the second scanning range is also located on one side of the rotating mirror module 10 in the first horizontal direction, the complete scanning trajectory formed by the detection light beam reflected to the outside by the second reflection surface 12 within the second scanning range is basically distributed near the optical distance measuring device, so that the optical distance measuring device can meet the needs of close-range detection.

[0052] In summary, the optical ranging device provided in the embodiment of the present application can meet both long-distance detection requirements and short-distance detection requirements.

[0053] In some embodiments, the optical distance measuring device further includes a base, the rotating mirror module 10 and the optical machine module 20 are both mounted on the base, and the rotating mirror module 10 can rotate relative to the optical machine module 20 and the base around the vertical rotation axis L. Optionally, the optical distance measuring device further includes a driving unit, which is mounted on the base and connected to the rotating mirror module 10, and the driving unit is used to drive the rotating mirror module 10 to rotate around the vertical rotation axis L. The driving unit can be a rotating motor or other structure suitable for driving the rotating mirror module 10 to rotate, which is not limited here.

[0054] The inventor of the present application has found through further research that when the optical distance measuring device provided in the embodiment of the present application performs close-range detection, if the detection light beam that has not yet been emitted to the outside world and the detection light beam that has been reflected by the outside world cause crosstalk and the receiver 22 cannot distinguish them, the real distance of the close-range obstacle cannot be effectively determined. In a possible design, if Figure 3 As shown, the optical machine module 20 includes a transmitter 21 and a receiver 22. The receiver 22 and the transmitter 21 can be both installed on the base. The transmitter 21 is used to emit a detection beam to the rotating mirror module 10, and the receiver 22 is used to receive the detection beam reflected by the outside world and not reflected by the first reflection surface 11 or the second reflection surface 12. In this setting, after the detection beam is reflected to the outside world by the first reflection surface 11 or the second reflection surface 12, the detection beam is received by the receiver 22 after being reflected by the outside world without being reflected by the first reflection surface 11 or the second reflection surface 12. In this way, the transmission path of the detection beam between the transmitter 21 and the outside world and the transmission path of the detection beam between the outside world and the receiver 22 can be basically not overlapped inside the optical distance measuring device, that is, basically no crosstalk occurs, which can effectively avoid the risk of the detection beam that has not yet been emitted to the outside world being received by the receiver 22, thereby improving the detection accuracy of the optical distance measuring device within a short range.

[0055] In one possible design, the receiving field angle of the receiver 22 is greater than or equal to the scanning field angle of the first scanning range, and the receiving field angle of the receiver 22 is greater than or equal to the scanning field angle of the second scanning range. It is worth noting that the receiving field angle of the receiver 22 refers to the angle between the boundaries of the maximum range that the receiver 22 can receive. The scanning field angle of the first scanning range refers to the angle between the detection light beams that pass through the boundary of the first scanning range after being reflected by the first reflecting surface 11. The scanning field angle of the second scanning range refers to the angle between the detection light beams that pass through the boundary of the second scanning range after being reflected by the second reflecting surface 12. A receiver 22 having a receiving field angle that is not less than the scanning field angle of either the first scanning range or the second scanning range is used to increase the probability that the detection light beam reflected back by the outside world is received by the receiver 22, which can further improve the detection accuracy of the optical ranging device.

[0056] After further research, the inventors of the present application discovered that when the optical ranging device provided in the embodiment of the present application performs horizontal long-distance detection, if the optical-mechanical module 20 is located within the first scanning range, the detection light beam reflected by the first reflecting surface 11 will be blocked by the optical-mechanical module 20 at certain positions within the first scanning range.

[0057] In one possible design, Figure 3 and Figure 4As shown, the first reflection surface 11 is 45 degrees to the vertical rotation axis L and the first reflection surface 11 is arranged diagonally upward, and the optical machine module 20 is used to emit a detection light beam to the first reflection surface 11 in a vertical downward direction. It is worth noting that the first reflection surface 11 is 45 degrees to the vertical rotation axis L and the first reflection surface 11 is arranged diagonally upward, which specifically means that the first reflection surface 11 gradually extends downward from the side close to the vertical rotation axis L to the side away from the vertical rotation axis L, the first reflection surface 11 faces diagonally upward, and the angle between the first reflection surface 11 and the vertical rotation axis L is 45 degrees. In this way, the optical machine module 20 can be set above the first reflection surface 11, that is, the optical machine module 20 is located above the first scanning range, thereby preventing the optical machine module 20 from blocking the detection light beam reflected by the first reflection surface 11. The optical machine module 20 emits a detection beam toward the first reflective surface 11 in a vertical downward direction. Since the angle between the first reflective surface 11 and the vertical rotation axis L is 45 degrees, the detection beam can be emitted horizontally to the outside world after being reflected by the first reflective surface 11. By rotating the first reflective surface 11 around the vertical rotation axis L, the detection beam can be emitted to the outside world in different horizontal directions, thereby obtaining a first scanning range, thereby ensuring the horizontal long-distance detection requirements of the optical distance measuring device.

[0058] In another possible design, Figure 5 and Figure 6 As shown, the first reflection surface 11 is 45 degrees to the vertical rotation axis L and the first reflection surface 11 is arranged obliquely downward, and the optical machine module 20 is used to emit a detection light beam to the first reflection surface 11 in a vertical upward direction. It is worth noting that the first reflection surface 11 is 45 degrees to the vertical rotation axis L and the first reflection surface 11 is arranged obliquely downward, which specifically means that the first reflection surface 11 gradually extends upward from the side close to the vertical rotation axis L to the side away from the vertical rotation axis L, the first reflection surface 11 faces obliquely downward, and the angle between the first reflection surface 11 and the vertical rotation axis L is 45 degrees. In this way, the optical machine module 20 can be set below the first reflection surface 11, that is, the optical machine module 20 is located below the first scanning range, thereby preventing the optical machine module 20 from blocking the detection light beam reflected by the first reflection surface 11. The optical machine module 20 emits a detection beam toward the first reflective surface 11 in a vertically upward direction. Since the angle between the first reflective surface 11 and the vertical rotation axis L is 45 degrees, the detection beam can be emitted horizontally to the outside world after being reflected by the first reflective surface 11. By rotating the first reflective surface 11 around the vertical rotation axis L, the detection beam can be emitted to the outside world in different horizontal directions, thereby obtaining a first scanning range, thereby ensuring the horizontal long-distance detection requirements of the optical distance measuring device.

[0059] In one possible design, Figure 7 and Figure 8As shown, the rotating mirror module 10 also has a third reflecting surface 13, and the optical machine module 20 is used to emit a detection light beam to the third reflecting surface 13 along the second horizontal direction, and the first horizontal direction and the second horizontal direction are opposite directions. Optionally, the third reflecting surface 13 is located below the first reflecting surface 11, the first reflecting surface 11 is 45 degrees to the vertical rotation axis L and the first reflecting surface 11 is arranged obliquely downward, and the third reflecting surface 13 is 45 degrees to the vertical rotation axis L and the third reflecting surface 13 is arranged obliquely upward. It is worth noting that the third reflecting surface 13 is 45 degrees to the vertical rotation axis L and the third reflecting surface 13 is arranged obliquely upward, which specifically means that the third reflecting surface 13 gradually extends downward from the side close to the vertical rotation axis L to the side away from the vertical rotation axis L, the third reflecting surface 13 is facing obliquely upward, and the angle between the third reflecting surface 13 and the vertical rotation axis L is 45 degrees. Alternatively, the third reflecting surface 13 is located above the first reflecting surface 11, the first reflecting surface 11 is 45 degrees to the vertical rotation axis L and the first reflecting surface 11 is arranged obliquely upward, and the third reflecting surface 13 is 45 degrees to the vertical rotation axis L and the third reflecting surface 13 is arranged obliquely downward. It is worth noting that the third reflecting surface 13 is 45 degrees to the vertical rotation axis L and the third reflecting surface 13 is arranged obliquely downward, which specifically means that the third reflecting surface 13 gradually extends upward from the side close to the vertical rotation axis L to the side away from the vertical rotation axis L, the third reflecting surface 13 is facing obliquely downward, and the angle between the third reflecting surface 13 and the vertical rotation axis L is 45 degrees.

[0060] According to the above-mentioned setting method, by setting the third reflection surface 13, the optical machine module 20 can be set on one side of the third reflection surface 13 in the first horizontal direction, so that the optical machine module 20 and the third reflection surface 13 are at the same height. The optical machine module 20 emits a detection beam to the third reflection surface 13 along the second horizontal direction. Since the angles between the third reflection surface 13 and the first reflection surface 11 and the vertical rotation axis L are both 45 degrees, and the upper one of the third reflection surface 13 and the first reflection surface 11 is tilted upward relative to the vertical rotation axis L, and the lower one is tilted downward relative to the vertical rotation axis L, the detection beam can be reflected to the first reflection surface 11 by the third reflection surface 13, and then reflected horizontally to the outside world by the first reflection surface 11. In addition, it is also possible to avoid the optical machine module 20 blocking the detection beam reflected by the first reflection surface 11, so that the detection beam can be smoothly reflected to the outside world, thereby obtaining the first scanning range, and ensuring the horizontal long-distance detection requirements of the optical distance measuring device.

[0061] In some optional embodiments, Fig. 9 and Fig.10 As shown, Fig.10Where θ represents the angle between the second reflective surface 12 and the vertical rotation axis L. The second reflective surface 12 is arranged obliquely upward, and the maximum angle between the second reflective surface 12 and the vertical rotation axis L is less than 45 degrees. The optical machine module 20 is used to emit a detection light beam to the second reflective surface 12 in a vertical downward direction. Or, as Fig.11 and Fig.12 As shown, the second reflective surface 12 is arranged obliquely downward, and the minimum angle between the second reflective surface 12 and the vertical rotation axis L is greater than 45 degrees, and the optical machine module 20 is used to emit a detection light beam to the second reflective surface 12 in a vertical upward direction. Fig.13 and Fig.14 As shown, Fig.14 In the figure, θ represents the angle between the second reflection surface 12 and the vertical rotation axis L. The second reflection surface 12 is arranged obliquely downward, and the maximum angle between the second reflection surface 12 and the vertical rotation axis L is less than 45 degrees. The optical machine module 20 is used to emit a detection light beam to the second reflection surface 12 along the second horizontal direction. It is worth noting that the second reflection surface 12 is arranged obliquely upward, which specifically means that the second reflection surface 12 gradually extends downward from the side close to the vertical rotation axis L to the side away from the vertical rotation axis L, and the second reflection surface 12 faces obliquely upward. The second reflection surface 12 is arranged obliquely downward, which specifically means that the second reflection surface 12 gradually extends upward from the side close to the vertical rotation axis L to the side away from the vertical rotation axis L, and the second reflection surface 12 faces obliquely downward.

[0062] According to the above configuration, the optical machine module 20 can be configured in various positions. Fig.12 As shown, Fig.12 Where θ represents the angle between the second reflection surface 12 and the vertical rotation axis L. For example, the optical machine module 20 can be arranged above the rotating mirror module 10 to emit a detection light beam to the second reflection surface 12 in a vertical downward direction, the second reflection surface 12 is arranged to face obliquely upward, and the maximum angle between the second reflection surface 12 and the vertical rotation axis L is less than 45 degrees, so that the second reflection surface 12 can reflect the detection light beam obliquely downward to the outside world. For another example, the optical machine module 20 can also be arranged below the rotating mirror module 10 to emit a detection light beam to the second reflection surface 12 in a vertical upward direction, the second reflection surface 12 is arranged to face obliquely downward, and the minimum angle between the second reflection surface 12 and the vertical rotation axis L is greater than 45 degrees, so that the second reflection surface 12 can reflect the detection light beam obliquely downward to the outside world. For another example, the optical machine module 20 can also be set on one side of the rotating mirror module 10 in the first horizontal direction to emit a light beam to the second reflecting surface 12 along the second horizontal direction, and the second reflecting surface 12 is arranged to face obliquely downward, and the maximum angle between the second reflecting surface 12 and the vertical rotation axis L is less than 45 degrees, so that the second reflecting surface 12 can reflect the detection light beam obliquely downward to the outside world.

[0063] The detection light beam emitted by the optical machine module 20 to the second reflective surface 12 has a landing point on the second reflective surface 12 . During the rotation of the rotating mirror module 10 , a collection of the multiple landing points is a landing point trajectory.

[0064] In some optional embodiments, a tangent plane corresponding to each landing point of the second reflecting surface 12 on the landing point trajectory has a first inclination angle with the vertical rotation axis. In this embodiment, the first inclination angle is the angle between the second reflecting surface 12 and the vertical rotation axis.

[0065] In other optional embodiments, each landing point on the landing point trajectory defines a corresponding first virtual plane, and the first virtual planes corresponding to the multiple landing points are parallel to each other and to the vertical rotation axis, wherein the intersection of the second reflecting surface 12 and each first virtual plane is the corresponding first intersection line; each first intersection line has a corresponding second inclination angle with the vertical rotation axis, or, the tangent lines of the multiple first intersection lines at the corresponding landing points have a corresponding second inclination angle with the vertical rotation axis; in this embodiment, the second inclination angle is the angle between the second reflecting surface 12 and the vertical rotation axis.

[0066] In some other optional embodiments, a corresponding second virtual plane is defined through each landing point on the landing point trajectory and through the vertical rotation axis, and the intersection line of the second reflecting surface 12 with each second virtual plane is the corresponding second intersection line; there are corresponding third inclination angles between the multiple second intersection lines and the vertical rotation axis, or there are corresponding third inclination angles between the tangent lines of the multiple second intersection lines at the corresponding landing points and the vertical rotation axis; in this embodiment, the third inclination angle is the angle between the second reflecting surface 12 and the vertical rotation axis.

[0067] From the above, it can be seen that the maximum angle between the second reflecting surface 12 and the vertical rotation axis L can be the maximum first inclination angle, the maximum second inclination angle or the maximum third inclination angle, and the minimum angle between the second reflecting surface 12 and the vertical rotation axis L can be the minimum first inclination angle, the minimum second inclination angle or the minimum third inclination angle.

[0068] Optionally, the second reflection surface 12 is a plane inclined relative to the vertical rotation axis L. When the rotating mirror module 10 rotates around the vertical rotation axis L, the second reflection surface 12 of the rotating mirror module 10 rotates around the vertical rotation axis L, and during the rotation of the second reflection surface 12, the second reflection surface 12 reflects the detection light beam to form a complete scanning trajectory in the second scanning range, which is substantially a curve extending in the circumferential direction of the vertical rotation axis L (such as Figure 2 When the optical distance measuring device is applied to a mobile robot, the curve can be substantially evenly arranged around the periphery of the mobile robot.

[0069] When the detection beam emitted by the optical machine module 20 to the rotating mirror module 10 is emitted downward in the vertical direction, the second reflection surface 12 is arranged obliquely upward, and the angle between the second reflection surface 12 and the vertical rotation axis L gradually increases from the middle of the second reflection surface 12 to both sides, and the maximum angle between the second reflection surface 12 and the vertical rotation axis L is less than 45 degrees. It is worth noting that when the detection beam emitted by the optical machine module 20 to the rotating mirror module 10 is emitted downward in the vertical direction, it means that the detection beam emitted by the optical machine module 20 is emitted downward in the vertical direction to the second reflection surface 12. It can be understood that when the detection light beam emitted by the optical machine module 20 is emitted downwardly along the vertical direction to the second reflection surface 12; the larger the angle between the second reflection surface 12 and the vertical rotation axis L, the smaller the angle at which the detection light beam tilts downward, and the farther the detection light beam is emitted to the outside world; conversely, the smaller the angle between the second reflection surface 12 and the vertical rotation axis L, the larger the angle at which the detection light beam tilts downward, and the closer the detection light beam is emitted to the outside world. Therefore, in this setting, by setting the angle of the second reflection surface 12 to gradually increase from the middle of the second reflection surface 12 to both sides, the complete scanning trajectory of the detection light beam within the second scanning range can be made close to a straight line, and the straight line generally extends in a direction perpendicular to the first horizontal direction and the vertical rotation axis, so that the distance from any position on the straight line to the optical ranging device is within an acceptable range to ensure the detection uniformity of the second scanning range.

[0070] When the detection beam emitted by the optical machine module 20 to the rotating mirror module 10 is emitted upward in the vertical direction, the second reflection surface 12 is arranged obliquely downward, and the angle between the second reflection surface 12 and the vertical rotation axis L gradually decreases from the middle of the second reflection surface 12 to both sides, and the minimum angle between the second reflection surface 12 and the vertical rotation axis L is greater than 45 degrees. It is worth noting that when the detection beam emitted by the optical machine module 20 to the rotating mirror module 10 is emitted upward in the vertical direction, it means that the detection beam emitted by the optical machine module 20 is emitted upward in the vertical direction to the second reflection surface 12. It can be understood that when the detection light beam emitted by the optical module 20 is emitted upward along the vertical direction to the second reflection surface 12; the larger the angle between the second reflection surface 12 and the vertical rotation axis L, the larger the angle at which the detection light beam tilts downward, and the closer the distance at which the detection light beam is emitted to the outside world; conversely, the smaller the angle between the second reflection surface 12 and the vertical rotation axis L, the smaller the angle at which the detection light beam tilts downward, and the farther the distance at which the detection light beam is emitted to the outside world. Therefore, in this setting, by setting the angle of the second reflection surface 12 to gradually decrease from the middle of the second reflection surface 12 to both sides, the complete scanning trajectory of the detection light beam within the second scanning range can be made close to a straight line (such as Figure 2The straight line generally extends in a direction perpendicular to the first horizontal direction and the vertical rotation axis, so that the distance from any position on the straight line to the optical ranging device is within an acceptable range to ensure the detection uniformity of the second scanning range.

[0071] When the detection beam emitted by the optical machine module 20 to the rotating mirror module 10 is emitted along the second horizontal direction, the second reflection surface 12 is arranged obliquely downward, and the angle between the second reflection surface 12 and the vertical rotation axis L gradually decreases from the middle of the second reflection surface 12 to both sides, and the maximum angle between the second reflection surface 12 and the vertical rotation axis L is less than 45 degrees. It is worth noting that when the detection beam emitted by the optical machine module 20 to the rotating mirror module 10 is emitted along the second horizontal direction, it means that the detection beam emitted by the optical machine module 20 is emitted to the second reflection surface 12 along the second horizontal direction. It can be understood that when the detection beam emitted by the optical machine module 20 is emitted to the second reflection surface 12 along the second horizontal direction; the larger the angle between the second reflection surface 12 and the vertical rotation axis L, the larger the angle at which the detection beam tilts downward, and the closer the distance at which the detection beam is emitted to the outside world; conversely, the smaller the angle between the second reflection surface 12 and the vertical rotation axis L, the smaller the angle at which the detection beam tilts downward, and the farther the distance at which the detection beam is emitted to the outside world. Therefore, in this setting, by setting the angle of the second reflecting surface 12 to gradually decrease from the middle of the second reflecting surface 12 to both sides, the complete scanning trajectory of the detection light beam within the second scanning range can be made close to a straight line, and the straight line generally extends in a direction perpendicular to the first horizontal direction and the vertical rotation axis, so that the distance from any position on the straight line to the optical ranging device is within an acceptable range, so as to ensure the detection uniformity of the second scanning range.

[0072] Optionally, when the second reflecting surface 12 is a plane inclined relative to the vertical rotation axis L, a first normal through the second reflecting surface 12 and the vertical rotation axis L define a first reference plane, and the first normal and the vertical rotation axis L intersect. The second reflecting surface 12 can be symmetrically arranged relative to the first reference plane, so that the complete scanning trajectory formed by the second reflecting surface 12 reflecting the detection light beam into the second scanning range can be a curve symmetrically arranged relative to the symmetry plane. When the optical ranging device is applied to a mobile robot, the curve can be more evenly arranged around the periphery of the mobile robot, thereby further improving the detection accuracy of the optical ranging device. The second reflecting surface 12 may also be non-symmetrically arranged relative to the first reference plane, for example, the area of ​​the second reflecting surface 12 on one side of the first reference plane is larger than the area of ​​the second reflecting surface 12 on the other side of the first reference plane.

[0073] Optionally, when the angle between the second reflecting surface 12 and the vertical rotation axis L gradually decreases from the middle of the second reflecting surface 12 to both sides, the second reference plane is defined by the vertical rotation axis L and the position point on the second reflecting surface 12 where the angle between the second reflecting surface 12 and the vertical rotation axis L is the largest, and the intersection of the second reflecting surface 12 and the second reference plane is the middle of the second reflecting surface 12. It is worth noting that the position point on the second reflecting surface 12 where the angle between the second reflecting surface 12 and the vertical rotation axis L is the largest specifically refers to the position of the landing point corresponding to the largest first inclination angle, the largest second inclination angle or the largest third inclination angle. The second reflecting surface 12 can be symmetrically arranged relative to the second reference plane, so that the complete scanning trajectory of the detection light beam within the second scanning range after being reflected by the second reflecting surface 12 is close to a straight line, and the straight line is roughly symmetrical relative to the symmetry plane, so that the distance from any position on the straight line to the optical distance measuring device is within a more accurate range, so as to further improve the detection accuracy of the optical distance measuring device. The second reflecting surface 12 may also be arranged asymmetrically with respect to the second reference plane. For example, the angle between the portion of the second reflecting surface 12 located on one side of the second reference plane and the vertical rotation axis L decreases from the middle of the second reflecting surface 12 toward a direction away from the second reference plane by a greater amount than the angle between the portion of the second reflecting surface 12 located on the other side of the second reference plane and the vertical rotation axis L decreases from the middle of the second reflecting surface 12 toward a direction away from the second reference plane, or the area of ​​the second reflecting surface 12 located on one side of the second reference plane is greater than the area of ​​the second reflecting surface 12 located on the other side of the second reference plane.

[0074] When the angle between the second reflecting surface 12 and the vertical rotation axis L gradually increases from the middle of the second reflecting surface 12 to both sides, the third reference plane is defined by the vertical rotation axis L and the position point on the second reflecting surface 12 where the angle between the second reflecting surface 12 and the vertical rotation axis L is the smallest, and the intersection of the second reflecting surface 12 and the third reference plane is the middle of the second reflecting surface 12. It is worth noting that the position point on the second reflecting surface 12 where the angle between the second reflecting surface 12 and the vertical rotation axis L is the smallest specifically refers to the position of the landing point corresponding to the smallest first tilt angle, the smallest second tilt angle or the smallest third tilt angle. The second reflecting surface 12 can be symmetrically arranged relative to the third reference plane, so that the complete scanning trajectory of the detection light beam within the second scanning range after being reflected by the second reflecting surface 12 is close to a straight line, and the straight line is roughly symmetrical relative to the symmetry plane, so that the distance from any position on the straight line to the optical distance measuring device is within a more accurate range, so as to further improve the detection accuracy of the optical distance measuring device. The second reflecting surface 12 may also be arranged asymmetrically with respect to the third reference plane. For example, the angle between the portion of the second reflecting surface 12 located on one side of the third reference plane and the vertical rotation axis L decreases from the middle of the second reflecting surface 12 toward a direction away from the third reference plane by a greater amplitude than the angle between the portion of the second reflecting surface 12 located on the other side of the third reference plane and the vertical rotation axis L decreases from the middle of the second reflecting surface 12 toward a direction away from the third reference plane, or the area of ​​the second reflecting surface 12 located on one side of the third reference plane is greater than the area of ​​the second reflecting surface 12 located on the other side of the third reference plane.

[0075] In one possible design, Fig.15 and Fig.16 As shown, Fig.16Where θ represents the angle between the second reflection surface 12 and the vertical rotation axis L. The rotating mirror module 10 also has a fourth reflection surface 14, and the fourth reflection surface 14 is located below the second reflection surface 12, the second reflection surface 12 is arranged obliquely downward, and the fourth reflection surface 14 is arranged obliquely upward. Alternatively, the fourth reflection surface 14 is located above the second reflection surface 12, the second reflection surface 12 is arranged obliquely upward, and the fourth reflection surface 14 is arranged obliquely downward. The optical machine module 20 is used to emit a detection beam to the fourth reflection surface 14 along the second horizontal direction, and the fourth reflection surface 14 is used to reflect the detection beam to the second reflection surface 12, so that the second reflection surface 12 reflects the detection beam obliquely downward to the outside world. It is worth noting that the fourth reflection surface 14 is arranged obliquely upward, which specifically means that the fourth reflection surface 14 gradually extends downward from the side close to the vertical rotation axis L to the side away from the vertical rotation axis L, and the fourth reflection surface 14 faces obliquely upward. The fourth reflection surface 14 is arranged to face obliquely downward, which specifically means that the fourth reflection surface 14 gradually extends upward from the side close to the vertical rotation axis L to the side away from the vertical rotation axis L, and the fourth reflection surface 14 faces obliquely downward. In this arrangement, the fourth reflection surface 14 can be located above the second reflection surface 12, or below the second reflection surface 12. The upper one of the second reflection surface 12 and the fourth reflection surface 14 is inclined upward relative to the vertical rotation axis L, and the lower one is inclined downward relative to the vertical rotation axis L. There can be many situations for the angle between the second reflection surface 12 and the fourth reflection surface 14, as long as the fourth reflection surface 14 can reflect the detection light beam emitted by the optical machine module 20 to the second reflection surface 12, and the second reflection surface 12 can emit the detection light beam reflected by the fourth reflection surface 14 obliquely downward.

[0076] In one example, if Fig.16 As shown, the fourth reflecting surface 14 is located below the second reflecting surface 12, and the angle between the fourth reflecting surface 14 and the vertical rotation axis L is 45 degrees, so that the fourth reflecting surface 14 can reflect the detection light beam emitted by the optical machine module 20 along the second horizontal direction vertically upward or obliquely upward to the second reflecting surface 12, and the minimum angle between the second reflecting surface 12 and the vertical rotation axis L is greater than 45 degrees.

[0077] In one possible design, Figure 3 , Figure 5 , Figure 7 , Fig. 9 , Fig.11 , Fig.13 and Fig.15As shown in any of the figures, the optical-mechanical module 20 further includes a main circuit board 23, which is electrically connected to the transmitter 21 and the receiver 22, respectively, and the transmitter 21 and the receiver 22 are both arranged on the main circuit board 23. In this way, the structural integration of the optical-mechanical module 20 can be improved, providing conditions for miniaturization of the optical-mechanical module 20 and even the optical ranging device.

[0078] In another possible design, the optical machine module 20 further includes a first circuit board and a second circuit board, wherein the first circuit board is electrically connected to the transmitter 21 and the transmitter 21 is disposed on the first circuit board, and the second circuit board is electrically connected to the receiver 22 and the receiver 22 is disposed on the second circuit board. In this way, the arrangement positions of the transmitter 21 and the receiver 22 can be set more flexibly.

[0079] When the optical machine module 20 includes a main circuit board 23, the receiver 22 can be located on one side of the main circuit board 23 in the first horizontal direction, and the transmitter 21 can be located on the side of the main circuit board 23 away from the receiver 22. In this way, the main circuit board 23 can be used to shield the light between the receiver 22 and the transmitter 21, thereby reducing the possibility that the detection light beam emitted by the transmitter 21 is directly reflected to the receiver 22 by the first reflection surface 11 or the second reflection surface 12, so as to improve the detection accuracy of the optical ranging device. Alternatively, a light-isolating structure can be separately provided between the transmitter 21 and the receiver 22, and the light-isolating structure can be used to shield the light between the receiver 22 and the transmitter 21. Of course, when the optical machine module 20 includes a first circuit board and a second circuit board, a light-isolating structure can also be provided between the transmitter 21 and the receiver 22. Optionally, the light-isolating structure can be a plate-like structure or other irregularly shaped structures, which are not limited here.

[0080] Another embodiment of the present application also provides a mobile robot, such as Figure 2 As shown, it includes the optical distance measuring device provided by any of the above embodiments. Since the mobile robot of the present application includes the optical distance measuring device provided by any of the above technical solutions, it has at least all the above beneficial effects, which will not be described in detail here.

[0081] In some optional embodiments, such as Figure 2As shown, the mobile robot includes a body 1, the body 1 has an inner cavity, and the optical ranging device is installed in the inner cavity. A light-transmitting structure is formed on one side of the body 1 in the first horizontal direction, and the detection light beam can be emitted to the outside through the light-transmitting structure. The light-transmitting structure can be made of light-transmitting materials such as glass or acrylic plate, or it can be directly formed as an open opening. In this embodiment, the first horizontal direction represents the front of the mobile robot. Since the light-transmitting structure is formed in front of the body 1, the detection light beam can be emitted from the front of the body 1, and the first scanning range and the second scanning range are also located in front of the body 1. The optical machine module 20 is arranged in front of the vertical rotation axis L, so that the complete scanning trajectory formed by the detection light beam in the second scanning range after being reflected by the second reflection surface 12 is basically distributed near the mobile robot, thereby meeting the mobile robot's needs for close-range detection.

[0082] The above description is only an optional embodiment of the present application and is 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 rotating mirror module (10) and an optical machine module (20), wherein the rotating mirror module (10) can rotate relative to the optical machine module (20) around a vertical rotation axis, and the rotating mirror module (10) has a first reflection surface (11) and a second reflection surface (12) which are sequentially arranged in a circumferential direction around the vertical rotation axis; the optical machine module (20) is located on one side of the vertical rotation axis in a first horizontal direction, wherein the first horizontal direction is perpendicular to the vertical rotation axis; The optical machine module (20) is used to emit a detection light beam to the rotating mirror module (10); the first reflection surface (11) is used to reflect the detection light beam horizontally to the outside world; the second reflection surface (12) is used to reflect the detection light beam obliquely downward to the outside world; the optical machine module (20) is also used to receive the detection light beam reflected back by the outside world; the detection light beam has a first scanning range after being reflected by the first reflection surface (11); the detection light beam has a second scanning range after being reflected by the second reflection surface (12); the first scanning range and the second scanning range are both located on one side of the rotating mirror module (10) in the first horizontal direction.

2. The optical distance measuring device according to claim 1, characterized in that: The optical machine module (20) comprises a transmitter (21) and a receiver (22), wherein the transmitter (21) is used to transmit the detection light beam to the rotating mirror module (10), and the receiver (22) is used to receive the detection light beam that is reflected by the outside and is not reflected by the first reflection surface (11) or the second reflection surface (12).

3. The optical distance measuring device according to claim 2, characterized in that: The receiving field of view of the receiver (22) is greater than or equal to the scanning field of view of the first scanning range, and the receiving field of view of the receiver (22) is greater than or equal to the scanning field of view of the second scanning range.

4. The optical distance measuring device according to claim 1, characterized in that: The first reflection surface (11) is at 45 degrees to the vertical rotation axis and the first reflection surface (11) is arranged obliquely upward, and the optical machine module (20) is used to emit the detection light beam toward the first reflection surface (11) in a vertical downward direction; or, The first reflection surface (11) is at an angle of 45 degrees to the vertical rotation axis and the first reflection surface (11) is arranged obliquely downward, and the optical machine module (20) is used to emit the detection light beam toward the first reflection surface (11) in a vertical upward direction.

5. The optical distance measuring device according to claim 1, characterized in that: The rotating mirror module (10) further comprises a third reflecting surface (13), and the optical machine module (20) is used for emitting the detection light beam toward the third reflecting surface (13) along a second horizontal direction, wherein the first horizontal direction and the second horizontal direction are opposite directions to each other; The third reflecting surface (13) is located below the first reflecting surface (11), the first reflecting surface (11) is 45 degrees to the vertical rotation axis and the first reflecting surface (11) is arranged obliquely downward, and the third reflecting surface (13) is 45 degrees to the vertical rotation axis and the third reflecting surface (13) is arranged obliquely upward; or, the third reflecting surface (13) is located above the first reflecting surface (11), the first reflecting surface (11) is 45 degrees to the vertical rotation axis and the first reflecting surface (11) is arranged obliquely upward, and the third reflecting surface (13) is 45 degrees to the vertical rotation axis and the third reflecting surface (13) is arranged obliquely downward.

6. The optical distance measuring device according to claim 1, characterized in that: The second reflection surface (12) is arranged obliquely upward, and the maximum angle between the second reflection surface (12) and the vertical rotation axis is less than 45 degrees, and the optical machine module (20) is used to emit the detection light beam toward the second reflection surface (12) in a vertical downward direction; or, The second reflection surface (12) is arranged obliquely downward, and the minimum angle between the second reflection surface (12) and the vertical rotation axis is greater than 45 degrees, and the optical machine module (20) is used to emit the detection light beam toward the second reflection surface (12) in a vertical upward direction; or, The second reflecting surface (12) is arranged obliquely downward, and the maximum angle between the second reflecting surface (12) and the vertical rotation axis is less than 45 degrees. The optical machine module (20) is used to emit the detection light beam toward the second reflecting surface (12) along a second horizontal direction, and the first horizontal direction and the second horizontal direction are opposite to each other.

7. The optical distance measuring device according to claim 1, characterized in that: The second reflecting surface (12) is a plane inclined relative to the vertical rotation axis; or, When the detection light beam emitted by the optical machine module (20) to the rotating mirror module (10) is emitted downward in the vertical direction, the second reflection surface (12) is arranged to face obliquely upward, and the angle between the second reflection surface (12) and the vertical rotation axis gradually increases from the middle of the second reflection surface (12) to both sides, and the maximum angle between the second reflection surface (12) and the vertical rotation axis is less than 45 degrees; or, When the detection light beam emitted by the optical machine module (20) to the rotating mirror module (10) is emitted upward in the vertical direction, the second reflection surface (12) is arranged to face obliquely downward, and the angle between the second reflection surface (12) and the vertical rotation axis gradually decreases from the middle of the second reflection surface (12) to both sides, and the minimum angle between the second reflection surface (12) and the vertical rotation axis is greater than 45 degrees; or, When the detection light beam emitted by the optical machine module (20) to the rotating mirror module (10) is emitted along a second horizontal direction, the first horizontal direction and the second horizontal direction are opposite to each other; the second reflecting surface (12) is arranged obliquely downward, and the angle between the second reflecting surface (12) and the vertical rotation axis gradually decreases from the middle of the second reflecting surface (12) to both sides, and the maximum angle between the second reflecting surface (12) and the vertical rotation axis is less than 45 degrees.

8. The optical distance measuring device according to claim 7, characterized in that: When the second reflecting surface (12) is a plane inclined relative to the vertical rotation axis, the second reflecting surface (12) is symmetrically arranged relative to the first reference plane, the first reference plane passes through a first normal line of the second reflecting surface (12) and the vertical rotation axis, and the first normal line intersects the vertical rotation axis; When the angle between the second reflecting surface (12) and the vertical rotation axis gradually decreases from the middle of the second reflecting surface (12) to both sides, the second reflecting surface (12) is symmetrically arranged relative to the second reference plane, the intersection of the second reflecting surface (12) and the second reference plane is the middle of the second reflecting surface (12), and the second reference plane passes through the vertical rotation axis and the position point on the second reflecting surface (12) where the angle between the second reflecting surface (12) and the vertical rotation axis is the largest; When the angle between the second reflecting surface (12) and the vertical rotation axis gradually increases from the middle of the second reflecting surface (12) to both sides, the second reflecting surface (12) is symmetrically arranged relative to the third reference plane, the intersection of the second reflecting surface (12) and the third reference plane is the middle of the second reflecting surface (12), and the third reference plane passes through the vertical rotation axis and the position point on the second reflecting surface (12) where the angle between the second reflecting surface (12) and the vertical rotation axis is the smallest.

9. The optical distance measuring device according to any one of claims 6 to 8, characterized in that: The detection light beam emitted by the optical machine module (20) toward the second reflection surface (12) has a landing point on the second reflection surface (12), and during the rotation of the rotating mirror module (10), a collection of a plurality of the landing points is a landing point trajectory; A tangent plane corresponding to each landing point on the landing point trajectory of the second reflecting surface (12) has a first inclination angle with the vertical rotation axis, and the first inclination angle is the angle between the second reflecting surface (12) and the vertical rotation axis; or, A corresponding first virtual plane is defined by each landing point on the landing point trajectory, and the first virtual planes corresponding to the multiple landing points are parallel to each other and to the vertical rotation axis, wherein the intersection line of the second reflecting surface (12) and each of the first virtual planes is a corresponding first intersection line; there is a corresponding second inclination angle between each of the first intersection lines and the vertical rotation axis, or, there is a corresponding second inclination angle between the tangent of the multiple first intersection lines at the corresponding landing point and the vertical rotation axis; the second inclination angle is the angle between the second reflecting surface (12) and the vertical rotation axis; or, A corresponding second virtual plane is defined through each landing point on the landing point trajectory and through the vertical rotation axis, and an intersection line between the second reflecting surface (12) and each second virtual plane is a corresponding second intersection line; a plurality of the second intersection lines have corresponding third inclination angles with the vertical rotation axis, or a plurality of the second intersection lines have corresponding third inclination angles between tangent lines at the corresponding landing points and the vertical rotation axis; the third inclination angle is the angle between the second reflecting surface (12) and the vertical rotation axis.

10. The optical distance measuring device according to any one of claims 1 to 8, characterized in that: The rotating mirror module (10) further comprises a fourth reflecting surface (14), wherein the fourth reflecting surface (14) is located below the second reflecting surface (12), the second reflecting surface (12) is arranged obliquely downward, and the fourth reflecting surface (14) is arranged obliquely upward; or, the fourth reflecting surface (14) is located above the second reflecting surface (12), the second reflecting surface (12) is arranged obliquely upward, and the fourth reflecting surface (14) is arranged obliquely downward; The optical machine module (20) is used to emit the detection light beam toward the fourth reflection surface (14) along a second horizontal direction, the first horizontal direction and the second horizontal direction are opposite to each other, and the fourth reflection surface (14) is used to reflect the detection light beam toward the second reflection surface (12), so that the second reflection surface (12) reflects the detection light beam obliquely downward to the outside.

11. The optical distance measuring device according to claim 2, characterized in that: The optical machine module (20) further comprises a main circuit board (23), wherein the main circuit board (23) is electrically connected to the transmitter (21) and the receiver (22), respectively, and the transmitter (21) and the receiver (22) are both arranged on the main circuit board (23); or, The optical machine module (20) further comprises a first circuit board and a second circuit board, wherein the first circuit board is electrically connected to the transmitter (21) and the transmitter (21) is arranged on the first circuit board, and the second circuit board is electrically connected to the receiver (22) and the receiver (22) is arranged on the second circuit board.

12. The optical distance measuring device according to claim 11, characterized in that: When the optical machine module (20) includes a main circuit board (23), the receiver (22) is located on one side of the main circuit board (23) in the first horizontal direction, and the transmitter (21) is located on a side of the main circuit board (23) away from the receiver (22); or, A light isolation structure is provided between the transmitter (21) and the receiver (22).

13. A mobile robot, characterized in that: Comprising the optical distance measuring device as claimed in any one of claims 1 to 12.

Images