Optical distance measuring device and self-walking robot

Abstract

The utility model provides an optical distance measuring device and a self-walking robot, the optical distance measuring device comprises a fixing module and a base, and the fixing module is fixedly arranged on the base; the fixing module comprises a fixing support, a transmitting assembly, a receiving assembly, a lower reflector assembly and a circuit board. The emitting assembly comprises an emitting mirror group and a light emitter, and the light emitter is used for emitting an emitting light beam; the receiving assembly comprises a receiving mirror group and a light receiver, and received light reaches the light receiver after passing through the receiving mirror group and the lower reflective mirror assembly; a light emitter and a light receiver are arranged on the circuit board; the receiving lens group, the lower reflective mirror assembly and the circuit board are fixedly connected with the fixed support. According to the optical distance measuring device provided by the invention, the transmitting assembly, the receiving assembly, the circuit board and other parts with relatively high requirements on installation precision are integrated into the modularized fixed module, and the modularized fixed module is integrally installed after debugging is completed, so that a large number of connecting structures are reduced, and the difficulty and cost of installation and debugging are reduced.

Description

Technical Field

[0001] The present application belongs to the field of optical distance measurement, and in particular, relates to an optical distance measurement device and a self-propelled robot. Background Art

[0002] The optical ranging devices in the prior art (such as laser radar) measure distance based on the time or optical path geometry of the light beam emission and reception. Therefore, very high installation accuracy is required for components such as the light transmitter and its corresponding collimating lens, the light receiver and its corresponding focusing lens, the transmitting circuit board carrying the light transmitter, and the receiving circuit board carrying the light receiver. After being installed on the corresponding supporting structure, they need to be debugged one by one. On the one hand, this makes the design of the corresponding connection structure more difficult, and on the other hand, it also increases the difficulty and cost of installation and debugging. Utility Model Content

[0003] In response to the above technical problems, the present application provides an optical ranging device and a self-propelled robot having the same, which integrates components with high installation accuracy requirements such as transmitting components, receiving components, circuit boards, etc. into a modular fixed module, and installs the entire module after debugging is completed, thereby reducing a large number of connection structures and reducing the difficulty and cost of installation and debugging.

[0004] The specific technical solutions of this application are as follows:

[0005] An optical distance measuring device comprises a fixed module and a base, wherein the fixed module is fixedly arranged on the base;

[0006] The fixed module includes a fixed bracket, a transmitting component, a receiving component, a lower reflector component and a circuit board;

[0007] The transmitting assembly includes a transmitting lens group and a light emitter, and the light emitter is used to emit a transmitting light beam;

[0008] The receiving assembly comprises a receiving lens group and a light receiver, wherein the light receiver is used to receive a receiving light beam reflected by an external object from the optical distance measuring device and passing through the receiving lens group and the lower reflector assembly;

[0009] The optical transmitter and the optical receiver are arranged on the circuit board;

[0010] The receiving mirror assembly, the lower reflector assembly and the circuit board are all fixedly connected to the fixing bracket.

[0011] In addition, the optical ranging device according to the present application may also have the following additional technical features.

[0012] In some examples of the present application, the fixing bracket is integrally formed with the receiving lens assembly to achieve a fixed connection.

[0013] In some examples of the present application, the fixed bracket includes a lower extending bracket portion, the upper end of the lower extending bracket portion is fixedly connected to the receiving mirror group, the lower end of the lower extending bracket portion is fixedly connected to the lower reflector assembly, and the receiving mirror group and the light receiver are both arranged on one side of the reflective surface of the lower reflector assembly.

[0014] In some examples of the present application, the lower extending bracket portion is provided with a notch, the circuit board includes a first circuit board portion and a second circuit board portion, the first circuit board portion is arranged on the outer side of the lower extending bracket portion, the second circuit board portion is arranged on the inner side of the lower extending bracket portion, the light transmitter and the light receiver are arranged on the second circuit board portion, and the connecting portion between the first circuit board portion and the second circuit board portion passes through the notch.

[0015] In some examples of the present application, the lower extension bracket portion is formed as a first extension column unit, the first extension column unit is a C-shaped ring structure provided with the notch, the C-shaped opening of the first extension column unit is formed as the notch, the upper end of the first extension column unit is fixedly connected to the receiving mirror group, and the lower end of the first extension column unit is fixedly connected to the lower reflector assembly; or, the lower extension bracket portion includes a plurality of second extension column units, and the plurality of second extension column units are circumferentially spaced around the second circuit board portion, the upper end of the second extension column unit is fixedly connected to the receiving mirror group, and the lower end of the second extension column unit is fixedly connected to the lower reflector assembly, wherein the interval between two second extension column units is formed as the notch.

[0016] In some examples of the present application, the circuit board includes a first circuit board portion and a second circuit board portion, the first circuit board portion is arranged on the outer side of the lower extending bracket portion, the second circuit board portion is arranged on the inner side of the lower extending bracket portion, the light transmitter and the light receiver are arranged on the second circuit board portion, and the connecting portion between the first circuit board portion and the second circuit board portion is passed between the receiving lens group and the lower extending bracket portion.

[0017] In some examples of the present application, along the axial direction of the receiving lens group, a circuit board avoidance groove is provided on one side of the receiving lens group close to the lower extending bracket portion, and the connecting portion between the first circuit board portion and the second circuit board portion is passed through the circuit board avoidance groove; the receiving lens group is provided with a light emitting hole, and the light emitting hole is used to allow an emission light beam emitted by the light emitter to pass through, the emitting lens group is arranged in the light emitting hole or outside the side of the light emitting hole away from the light emitter, and the second circuit board portion is partially or completely arranged in the light emitting hole.

[0018] In some examples of the present application, the first circuit board portion is externally mounted on the second circuit board portion, the connecting portion and the avoiding portion are provided between the first circuit board portion and the second circuit board portion, and the receiving light beam received by the receiving mirror group passes through the avoiding portion and reaches the lower reflector assembly.

[0019] In some examples of the present application, the fixed bracket also includes a side extension bracket portion, which extends from the lower extension bracket portion in a direction away from the lower extension bracket portion, and the side extension bracket portion is used to be fixedly connected to the circuit board.

[0020] In some examples of the present application, the side extension bracket portion includes a plurality of extension plate units; the plurality of extension plate units are circumferentially spaced around the lower extension bracket portion; the extension lengths of the plurality of extension plate units are the same, or the extension lengths of at least two of the extension plate units are different.

[0021] In some examples of the present application, the circuit board cooperates with and is fixedly connected to a lower surface or an upper surface of the side extension bracket portion.

[0022] In some examples of the present application, a reinforcement structure is provided between the side extension bracket portion and the lower extension bracket portion.

[0023] In some examples of the present application, the fixed bracket and the circuit board are fixedly connected by a first fixing member or by gluing; and / or, the fixed bracket and the base are fixedly connected by a second fixing member or by gluing; and / or, the circuit board and the base are fixedly connected by a third fixing member or by gluing; and / or, the fixed bracket, the circuit board and the base are fixedly connected by a fourth fixing member or by gluing.

[0024] In some examples of the present application, part of the base is formed as the lower reflector assembly; or, the fixed module is arranged on the upper side of the base, the base is provided with a groove, the recessed direction of the groove is in the direction away from the fixed module, the lower reflector assembly is arranged in the groove, or the groove is formed as the lower reflector assembly; or, the base is provided with an opening, and the part of the fixed bracket connected with the lower reflector assembly passes through the opening from the upper side of the base to the lower side of the base.

[0025] In some examples of the present application, the lower reflector assembly includes a lower reflector and a lower reflector adjusting member, the lower reflector is fixed on the lower reflector adjusting member, and the lower reflector adjusting member is fixed on the fixing bracket.

[0026] In some examples of the present application, along the axial direction of the transmitting mirror group, the transmitting mirror group, the light transmitter, the circuit board, the light receiver and the lower reflector assembly are arranged in sequence; and / or the axis of the transmitting mirror group is parallel or coaxial with the axis of the receiving mirror group.

[0027] In some examples of the present application, the optical ranging device also includes an upper reflector assembly, which is rotatably disposed on the base, and the upper reflector assembly is used to reflect the emission light beam emitted by the light emitter to the external area of ​​the optical ranging device, and the rotation axis of the upper reflector assembly, the axis of the transmitting lens group and the axis of the receiving lens group are coaxial.

[0028] In some examples of the present application, the upper reflector assembly includes an upper reflector and a rotating seat, and the rotating seat is rotatably disposed on a bearing seat of the base through a bearing; the rotating seat cooperates with the outer side surface of the bearing, the bearing seat cooperates with the inner side surface of the bearing, and the bearing seat is outermostly disposed on the receiving mirror group; or, the rotating seat cooperates with the inner side surface of the bearing, the bearing seat cooperates with the outer side surface of the bearing, and the bearing seat is outermostly disposed on the receiving mirror group.

[0029] In some examples of the present application, the optical ranging device also includes a driving assembly, which is used to drive the upper reflector assembly to rotate; the driving assembly is coaxially arranged with the upper reflector assembly, or the driving assembly is non-coaxially arranged with the upper reflector assembly; and / or, the driving assembly is directly connected to the upper reflector assembly, or the driving assembly and the upper reflector assembly are connected via a transmission assembly.

[0030] The present application also provides a self-propelled robot, comprising a robot body and an optical ranging device provided in an embodiment of the present application.

[0031] The optical ranging device and the self-propelled robot having the same provided by the present application arrange the transmitting mirror group with higher installation accuracy requirements in the installation hole of the receiving mirror group, and fix the receiving mirror group with higher installation accuracy requirements, the lower reflector, and the circuit board installed with the light transmitter and the light receiver through the fixing bracket and integrate them into a modular fixing module, thereby reducing a large number of connection structures and having the advantages of simple and compact structure; at the same time, the transmitting mirror group, the receiving mirror group, the lower reflector and the circuit board in the fixing module can be installed on the base as a whole after debugging is completed, reducing the difficulty and cost of installation and debugging.

[0032] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of a self-propelled robot provided in an embodiment of the present application.

[0034] Figure 2 It is a cross-sectional view of an optical distance measuring device provided by an embodiment of the present application.

[0035] Figure 3 It is a cross-sectional view of a receiving lens assembly and a fixing bracket of an optical distance measuring device provided in another embodiment of the present application.

[0036] Figure 4 It is a bottom view of a fixed module of an optical distance measuring device provided in one embodiment of the present application.

[0037] Figure 5 It is a bottom view of a fixed module of an optical distance measuring device provided in another embodiment of the present application.

[0038] Figure 6 It is a cross-sectional view of an optical distance measuring device provided in another embodiment of the present application.

[0039] Figure 7 It is a top view of a fixed module of an optical distance measuring device provided in one embodiment of the present application.

[0040] Figure 8 It is a cross-sectional view of an optical distance measuring device provided in another embodiment of the present application.

[0041] Fig. 9 It is a cross-sectional view of an upper reflector assembly of an optical distance measuring device provided in an embodiment of the present application.

[0042] Reference numerals:

[0043] 1000. Optical distance measuring device;

[0044] 100. Fixed module;

[0045] 110, fixed bracket; 111, lower extension bracket portion; 111a, notch; 111b, first extension column unit; 111c, second extension column unit; 112, side extension bracket portion; 112a, extension plate unit; 113, reinforcement structure;

[0046] 120, transmitting assembly; 121, transmitting mirror assembly; 122, optical transmitter;

[0047] 130, receiving component; 131, receiving lens group; 131a, light emitting hole; 131b, circuit board avoidance groove; 132, light receiver;

[0048] 140. lower reflector assembly; 141. lower reflector; 142. lower reflector adjustment member;

[0049] 150, circuit board; 151, first circuit board portion; 152, second circuit board portion; 153, connecting portion; 154, avoidance portion;

[0050] 161, first fixing member; 164, fourth fixing member;

[0051] 200, base; 200a, groove; 200b, opening; 200c, bearing seat;

[0052] 300, upper reflector assembly; 310, upper reflector; 320, rotating seat; 330, bearing;

[0053] 2000. Self-propelled robot; 2100. Robot body. DETAILED DESCRIPTION

[0054] In order to make the technical problems, technical solutions and beneficial effects 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.

[0055] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0056] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "vertical", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which 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 cannot be understood as a limitation on the present application. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0057] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] The inventor of the utility model has found through research and analysis that the optical distance measuring device (such as laser radar) in the prior art measures distance based on the time or optical path geometry of the light beam emitted and received. Therefore, the installation accuracy requirements for the light transmitter and its corresponding collimating lens, the light receiver and its corresponding focusing lens, the transmitting circuit board carrying the light transmitter, the receiving circuit board carrying the light receiver and other components are very high. After being installed in the corresponding supporting structure, they need to be debugged one by one, which makes the design of the corresponding connection structure more difficult on the one hand, and increases the difficulty and cost of installation and debugging on the other hand. In particular, in the prior art, the coaxial laser radar with the collimating lens integrated in the focusing lens, in order to meet the focal length requirements of the collimating lens and the focusing lens, the light transmitter and the light receiver often need to be set relatively far away, so that the above-mentioned components of the laser radar that need to be installed and debugged are set relatively scattered and have low integration. In view of the above reasons, the inventor has improved the optical distance measuring device in the prior art and obtained the technical solution of the present invention.

[0059] Reference below Figure 1-9 The optical distance measuring device 1000 and the self-propelled robot 2000 according to the embodiment of the present application are described in detail. Figure 1 As shown, the self-propelled robot 2000 includes a robot body 2100 and an optical distance measuring device 1000. The self-propelled robot 2000 measures the distance of external objects through the optical distance measuring device 1000, thereby realizing self-propelled walking. The self-propelled robot 2000 can be a cleaning robot with functions such as sweeping and mopping, a service robot with functions such as delivering meals and goods, a lawn mowing robot with a lawn mowing function, or a transport robot used to transport goods in warehouses and factories.

[0060] like Figure 2As shown, the optical distance measuring device 1000 includes a fixed module 100 and a base 200, and the fixed module 100 is fixedly arranged on the base 200. The fixed module 100 includes a fixed bracket 110, a transmitting component 120, a receiving component 130, a lower reflector component 140 and a circuit board 150. The transmitting component 120 includes a transmitting lens group 121 and a light transmitter 122, and the light transmitter 122 is used to emit a transmitting light beam. The receiving component 130 includes a receiving lens group 131 and a light receiver 132, and the light receiver 132 is used to receive a receiving light beam reflected from an external object of the optical distance measuring device 1000 and passing through the receiving lens group 131 and the lower reflector component 140. The circuit board 150 is provided with the light transmitter 122 and the light receiver 132. Among them, the receiving lens group 131, the lower reflector component 140 and the circuit board 150 are all fixedly connected to the fixed bracket 110. It should be noted that the transmitting lens group 121 includes a transmitting lens and a transmitting lens barrel. The transmitting lens can be a single lens or a combination of multiple lenses. The receiving lens group 131 includes a receiving lens, which can be a single lens or a combination of multiple lenses.

[0061] The optical distance measuring device 1000 emits a light beam through the light emitter 122 and receives the light beam through the light receiver 132. According to the time from the light beam emission to the light beam reception or the geometric relationship of the light path, the distance between the optical distance measuring device 1000 and the external object can be determined. The light beam received by the receiving lens group 131 is folded by the lower reflector assembly 140, so that the light emitter 122 and the light receiver 132 can be arranged together on the same circuit board 150, which greatly improves the integration of the optical distance measuring device 1000 and reduces the size of the receiving assembly 130 along the axis of the receiving lens group 131. At the same time, the receiving lens group 131 integrated with the transmitting lens group 121, the circuit board 150 integrated with the optical transmitter 122 and the optical receiver 132, and the lower reflector assembly 140 are all fixedly connected to the fixed bracket 110, so as to realize the integration of these parts that need to be installed and debugged, and obtain a modular fixed module 100, that is, after debugging on the fixed bracket 110, it can be installed on the base 200 as a whole, reducing a large number of connection structures, reducing the difficulty and cost of installation and debugging. It should be noted that the optical ranging device 1000 can be a laser radar, that is, the light beam emitted by the light transmitter 122 is a laser; or, the light beam emitted by the light transmitter 122 may not be a laser, such as non-laser infrared light or visible light.

[0062] like Figure 2 As shown, in some embodiments, a light transmitter 122 and a light receiver 132 are disposed on the circuit board 150 , and the receiving lens group 131 and the transmitting lens group 121 are disposed on the same side of the circuit board 150 .

[0063] By setting the lower reflector assembly 140, the receiving light beam passing through the receiving lens group 131 is folded. Based on this, the light emitter 122 and the light receiver 132 are further set on the circuit board 150. Compared with the prior art, a large amount of space occupied by a circuit board is saved, and the integration and simplification of the structure are achieved. At the same time, since the distance between the circuit board 150 provided with the light emitter 122 and the transmitting lens group 121 corresponds to the focal length of the transmitting lens group 121, and the distance between the circuit board 150 and the receiving lens group 131 after the receiving light beam is folded is less than the focal length of the receiving lens group 131, By arranging the receiving mirror group 131 and the transmitting mirror group 121 on the same side of the circuit board 150, that is, the overall size of the transmitting mirror group 121, the receiving mirror group 131 and the circuit board 150 in the direction perpendicular to the circuit board 150 can be made smaller, specifically, approximately the larger value of the distance between the circuit board 150 and the transmitting mirror group 121 and the distance between the circuit board 150 and the receiving mirror group 131, rather than the superposition value of the distance between the circuit board 150 and the transmitting mirror group 121 and the distance between the circuit board 150 and the receiving mirror group 131, thereby providing conditions for the miniaturization of the optical ranging device 1000.

[0064] like Figure 2 As shown, in some embodiments, a light emitter 122 is provided on a side of the circuit board 150 close to the transmitting lens group 121, and a light receiver 132 is provided on a side of the circuit board 150 away from the transmitting lens group 121. In some embodiments, the circuit board 150 may be a single circuit board, the light emitter 122 is provided on a side of the single circuit board close to the transmitting lens group 121, and the light receiver 132 is provided on a side of the single circuit board away from the transmitting lens group 121. In other embodiments, the circuit board 150 may be two circuit boards, the light emitter 122 is provided on a side of one circuit board close to the transmitting lens group 121 close to the transmitting lens group 121, and the light receiver 132 is provided on a side of the other circuit board away from the transmitting lens group 121 away from the transmitting lens group 121, wherein the two circuit boards may be spaced apart or may be closely attached.

[0065] like Figure 2 As shown, in some embodiments, the receiving mirror group 131 and the light receiver 132 are both arranged on one side of the reflective surface of the lower reflector assembly 140. Specifically, along the axial direction of the receiving mirror group 131, the lower reflector assembly 140 is spaced from the receiving mirror group 131 and the light receiver 132, respectively, and the reflective surface of the lower reflector assembly 140 is arranged opposite to the receiving mirror group 131 and the reflective surface of the lower reflector assembly 140 is arranged opposite to the light receiver 132, which provides space and distance for focusing the received light beam, folds the light path of the received light beam, and reduces the distance between the receiving mirror group 131 and the light receiver 132.

[0066] like Figure 2 As shown, in some embodiments, the receiving lens group 131 is provided with a light emission hole 131a, and the light emission hole 131a is used to allow the emission light beam emitted by the light emitter 122 to pass through. The light emitter 122 is arranged opposite to the emission lens group 121 through the light emission hole 131a, and the emission lens group 121 is arranged in the light emission hole 131a, which minimizes the distance between the emission lens group 121 and the receiving lens group 131. In other embodiments, the emission lens group 121 can also be arranged outside the side of the light emission hole 131a away from the light emitter 122.

[0067] like Figure 6 As shown, in some embodiments, the circuit board 150 includes a first circuit board portion 151 and a second circuit board portion 152, the first circuit board portion 151 is arranged radially outside the receiving lens group 131, the second circuit board portion 152 is partially or completely arranged in the light emitting hole 131a, the second circuit board portion 152 is provided with a light emitter 122 and a light receiver 132, and the first circuit board portion 151 and the second circuit board portion 152 are connected via a connecting portion 153. The second circuit board portion 152 provided with the light emitter 122 and the light receiver 132 is partially or completely arranged in the light emitting hole 131a, which ensures the corresponding arrangement of the light emitter 122 and the transmitting lens group 121, and the corresponding arrangement of the light receiver 132 and the receiving lens group 131 and the lower reflector assembly 140, and can also ensure that the received light beam is not blocked by the second circuit board portion 152 in the process of being focused by the receiving lens group 131, thereby increasing the amount of light beams that can be received by the light receiver 132, thereby improving the distance measurement reliability. At the same time, a first circuit board portion 151 having electronic components that are circuit-connected to the light emitter 122 and the light receiver 132 is arranged on the radial outer side of the receiving lens group 131, so as to ensure the reasonable distribution of the various electronic components on the circuit board 150. In some embodiments, the light emitter 122 is arranged on the side of the second circuit board portion 152 close to the transmitting lens group 121, and the light receiver 132 is arranged on the side of the second circuit board portion 152 away from the transmitting lens group 121. In some embodiments, the first circuit board portion 151 and the second circuit board portion 152 are integrally formed PCB boards, and specifically, the first circuit board portion 151, the second circuit board portion 152 and the connecting portion 153 are integrally formed. In other embodiments, the first circuit board portion 151 and the second circuit board portion 152 are separately formed and connected by wires. Preferably, the board surfaces of the first circuit board portion 151 and the second circuit board portion 152 are arranged to overlap.

[0068] like Figure 6As shown, in some embodiments, the receiving lens assembly 131 is provided with a circuit board avoidance groove 131b, which extends along the radial direction of the receiving lens assembly 131 and is connected to the light emitting hole 131a, and the connecting portion 153 between the first circuit board portion 151 and the second circuit board portion 152 is penetrated through the circuit board avoidance groove 131b. By providing the circuit board avoidance groove 131b, the connecting portion 153 between the first circuit board portion 151 and the second circuit board portion 152 can be arranged in the circuit board avoidance groove 131b, so that the overall height of the receiving lens assembly 131 and the circuit board 150 is minimized.

[0069] like Figure 4 or Figure 5 As shown, in some embodiments, the first circuit board portion 151 is covered with the second circuit board portion 152, and a connecting portion 153 and a avoiding portion 154 are provided between the first circuit board portion 151 and the second circuit board portion 152. The receiving light beam received by the receiving lens group 131 passes through the avoiding portion 154 and reaches the lower reflector assembly 140, and then the lower reflector assembly 140 reflects the receiving light beam to the light receiver 132 on the second circuit board portion 152. By providing the avoiding portion 154, the receiving light beam can pass through the circuit board 150 and reach the lower reflector assembly 140 after being received by the receiving lens group 131, so that the passability of the light path can be guaranteed while the second circuit board portion 152 is provided in the light emitting hole 131a.

[0070] like Figure 2 and Figure 6 As shown, in some embodiments, the optical distance measuring device 1000 further includes a base 200, and the circuit board 150 is disposed on the base 200. The base 200 is provided with a groove 200a, and the recessed direction of the groove 200a is the direction away from the light receiver 132, and the lower reflector assembly 140 is disposed in the groove 200a. The base 200 accommodates the lower reflector assembly 140 by providing the groove 200a, which is conducive to reducing the reflection of stray light on the lower reflector assembly 140 and improving the distance measurement reliability. In other embodiments, the groove 200a can be directly formed as the lower reflector assembly 140, and specifically, the surface of the groove 200a facing the receiving lens group 131 and the light receiver 132 is formed as a reflective surface.

[0071] like Figure 8 As shown, in some embodiments, the base 200 is provided with an opening 200b, and the received light beam passes through the opening 200b and reaches the lower reflector assembly 140. By providing the opening 200b on the base 200, the space on the side of the base 200 away from the transmitting assembly 120 or the receiving assembly 130 or the circuit board 150 is effectively utilized to set the lower reflector assembly 140, which has the advantages of simple structure and small size.

[0072] like Figure 2 , Figure 6and Figure 8 As shown, in some embodiments, along the axial direction of the emitting mirror group 121, the emitting mirror group 121, the light emitter 122, the circuit board 150, the light receiver 132 and the lower reflector assembly 140 are arranged in sequence. Such an arrangement allows these components to be arranged with a smaller gap, which is beneficial to reducing the size of the fixed module 100 along the axial direction of the emitting mirror group 121.

[0073] like Figure 2 , Figure 6 and Figure 8 As shown, in some embodiments, the axis of the transmitting mirror group 121 is parallel or coaxial with the axis of the receiving mirror group 131. The coaxially arranged transmitting mirror group 121 and receiving mirror group 131 can reduce the close-range measurement blind area of ​​the optical distance measuring device 1000, and the parallelly arranged transmitting mirror group 121 and receiving mirror group 131 can be applied to non-uniform receiving mirror group 131 to improve the distance detection effect in a specific direction.

[0074] like Fig. 9 As shown, in some embodiments, the optical distance measuring device 1000 further includes an upper reflector assembly 300, which is rotatably arranged on the base 200, and the upper reflector assembly 300 is used to reflect the emission light beam emitted by the light emitter 122 to the external area of ​​the optical distance measuring device 1000, and the rotation axis of the upper reflector assembly 300, the axis of the emission lens group 121 and the axis of the receiving lens group 131 are coaxial. By setting the rotating upper reflector assembly 300, the light beam is emitted and received at multiple angles during the rotation process, thereby realizing the distance measurement of the optical distance measuring device 1000 at multiple angles, and it can be realized without rotating the emission assembly 120 and the receiving assembly 130, and the structure is simple. In other embodiments, the optical distance measuring device 1000 may not be provided with a rotating upper reflector assembly 300, so that the distance measurement in one direction is realized by fixing the emission assembly 120 and the receiving assembly 130 in the module 100.

[0075] like Fig. 9As shown, in some embodiments, the upper reflector assembly 300 includes an upper reflector 310 and a rotating seat 320, and the rotating seat 320 is rotatably arranged on the bearing seat 200c of the base 200 through the bearing 330. The circuit board 150 is provided with a avoidance portion 154, and the bearing seat 200c is connected with the bearing 330 after passing through the avoidance portion 154. The avoidance portion 154 is provided on the circuit board 150 to avoid the bearing seat 200c, thereby improving the compactness of the structure. In some embodiments, the rotating seat 320 cooperates with the outer side surface of the bearing 330, the bearing seat 200c cooperates with the inner side surface of the bearing 330, and the bearing seat 200c is outer-mounted on the receiving mirror group 131, wherein the radial inner part of the avoidance portion 154 is used to allow the passage of the received light beam, and the radial outer part of the avoidance portion 154 is used to allow the passage of the bearing seat 200c. In other embodiments, the rotating seat 320 cooperates with the inner side of the bearing 330, the bearing seat 200c cooperates with the outer side of the bearing 330, and the bearing 330 is outer-mounted on the receiving lens group 131. In other words, by nesting the bearing 330 and the receiving lens group 131 in the radial direction, the overall height of the bearing 330 and the receiving lens group 131 is effectively reduced, thereby providing conditions for miniaturization of the optical distance measuring device 1000.

[0076] In some embodiments, the optical distance measuring device 1000 further includes a driving assembly (not shown in the figure), which is used to drive the upper reflector assembly 300 to rotate.

[0077] In some embodiments, the driving assembly is coaxially arranged and directly connected to the upper reflector assembly 300. When the layout space, especially the vertical space, allows, the driving assembly is arranged coaxially with the upper reflector assembly 300, which is conducive to optimizing the lateral size of the optical distance measuring device 1000. The driving assembly is directly connected to the upper reflector assembly 300, which can optimize the vertical size of the optical distance measuring device 1000. It should be noted that the vertical dimension is Figure 2 , Figure 6 , Figure 8 In the up-down direction shown in , the horizontal direction is the direction perpendicular to the vertical direction.

[0078] In other embodiments, the drive assembly is coaxially arranged with the upper reflector assembly 300 and is connected to it via a transmission assembly (not shown in the figure). When the layout space, especially the vertical space permits, the drive assembly is arranged to be coaxial with the upper reflector assembly 300, which is beneficial to optimizing the lateral size of the optical ranging device 1000. The drive assembly and the upper reflector assembly 300 are connected to each other via a transmission assembly 500, which has a higher degree of freedom in structural layout.

[0079] In other embodiments, the driving assembly is non-coaxially arranged and directly connected to the upper reflector assembly 300. When the layout space, especially the lateral space permits, the driving assembly is arranged to be non-coaxial or even parallel to the upper reflector assembly 300, which is beneficial to optimizing the vertical size of the optical ranging device 1000. The direct connection between the driving assembly and the upper reflector assembly 300 can optimize the lateral size of the optical ranging device 1000.

[0080] In other embodiments, the drive assembly is non-coaxially arranged with the upper reflector assembly 300 and is connected to it through a transmission assembly. When the layout space, especially the lateral space permits, the drive assembly is arranged to be non-coaxial or even parallel to the upper reflector assembly 300, which is beneficial to optimizing the vertical size of the optical ranging device 1000. The drive assembly and the upper reflector assembly 300 are connected to each other through the transmission assembly, which has a high degree of freedom in structural layout.

[0081] like Figure 3 As shown, in some embodiments, the fixed bracket 110 is integrally formed with the receiving lens group 131, thereby reducing the installation and connection process for the receiving lens group 131, reducing the difficulty and cost of the connection structure and installation and debugging. It should be noted that the fixed bracket 110 and the receiving lens group 131 can be integrally formed in the same mold using the same material, or the receiving lens group 131 can be placed in a molding mold corresponding to the fixed bracket 110 and then the fixed bracket 110 is cast so that the receiving lens group 131 and the fixed bracket 110 are integrally formed.

[0082] like Figure 2-3 As shown, in some embodiments, the fixed bracket 110 includes a lower extending bracket portion 111, the upper end of the lower extending bracket portion 111 is fixedly connected to the receiving lens group 131, the lower end of the lower extending bracket portion 111 is fixedly connected to the lower reflector assembly 140, the receiving lens group 131 and the light receiver 132 are both arranged on one side of the reflective surface of the lower reflector assembly 140, so that the receiving lens group 131 and the lower reflector assembly 140 are arranged at intervals along the axis direction of the receiving lens group 131, the reflective surface of the lower reflector assembly 140 is arranged opposite to the receiving lens group 131, and the reflective surface of the lower reflector assembly 140 is arranged opposite to the light receiver 132. Through the arrangement of the above-mentioned lower extending bracket portion 111, the receiving lens group 131 and the lower reflector assembly 140 are arranged at intervals along the axis direction of the receiving lens group 131, which provides space and distance for focusing of the light beam and plays a supporting role for the lower reflector assembly 140.

[0083] like Figure 2-4As shown, in some embodiments, the lower extending bracket portion 111 is provided with a notch 111a, and the circuit board 150 includes a first circuit board portion 151 and a second circuit board portion 152, the first circuit board portion 151 is arranged on the outer side of the lower extending bracket portion 111, and the second circuit board portion 152 is arranged on the inner side of the lower extending bracket portion 111, and the second circuit board portion 152 is provided with a light transmitter 122 and a light receiver 132, and the connecting portion 153 between the first circuit board portion 151 and the second circuit board portion 152 is passed through the notch 111a. By providing the notch 111a, the light emitter 122 and the light receiver 132 are provided inside the lower extension bracket part 111, which ensures that the light emitter 122 is provided in correspondence with the transmitting lens group 121, and the light receiver 132 is provided in correspondence with the receiving lens group 131 and the lower reflector assembly 140. Meanwhile, electronic components for circuit connection with the light emitter 122 and the light receiver 132 are provided outside the lower extension bracket part 111, which ensures the reasonable distribution of the electronic components on the circuit board 150. In particular, for the integrally formed receiving lens group 131 and the fixing bracket 110, the notch 111a is required to realize the connection between the second circuit board part 152 located in the lower extension bracket part 111 and the first circuit board part 151 located in the lower extension bracket part 111.

[0084] like Figure 4 As shown, in some embodiments, the lower extension bracket portion 111 is formed as a first extension column unit 111b, the first extension column unit 111b is a C-shaped ring structure provided with a notch 111a, the C-shaped opening of the first extension column unit 111b is formed as the notch 111a, the upper end of the first extension column unit 111b is fixedly connected to the receiving mirror assembly 131, and the lower end of the first extension column unit 111b is fixedly connected to the lower reflective mirror assembly 140. The first extension column unit 111b of the C-shaped ring structure has a higher support strength.

[0085] like Figure 5 As shown, in other embodiments, the lower extension bracket portion 111 includes a plurality of second extension column units 111c, and the plurality of second extension column units 111c are arranged circumferentially at intervals around the second circuit board portion 152, the upper end of the second extension column unit 111c is fixedly connected to the receiving mirror group 131, and the lower end of the second extension column unit 111c is fixedly connected to the lower reflector assembly 140, wherein the interval between two second extension column units 111c is formed as a notch 111a. For the plurality of second extension column units 111c, the area of ​​the lower end surface of each second extension column unit 111c for cooperating with the lower reflector assembly 140 is small, which facilitates maintaining good flatness during the processing of these lower end surfaces, thereby reducing installation errors and debugging time.

[0086] like Figure 6As shown, in other embodiments, the circuit board 150 includes a first circuit board portion 151 and a second circuit board portion 152, the first circuit board portion 151 is arranged on the outer side of the lower extension bracket portion 111, the second circuit board portion 152 is arranged on the inner side of the lower extension bracket portion 111, the light emitter 122 and the light receiver 132 are arranged on the second circuit board portion 152, and the connecting portion 153 between the first circuit board portion 151 and the second circuit board portion 152 is penetrated between the receiving lens group 131 and the lower extension bracket portion 111. The light emitter 122 and the light receiver 132 are arranged on the inner side of the lower extension bracket portion 111, that is, the corresponding arrangement of the light emitter 122 and the transmitting lens group 121, and the corresponding arrangement of the light receiver 132 and the receiving lens group 131 and the lower reflector assembly 140 are ensured, and at the same time, the electronic components that are circuit-connected with the light emitter 122 and the light receiver 132 are arranged on the outer side of the lower extension bracket portion 111, so as to ensure the reasonable distribution of each electronic component on the circuit board 150. For the separately arranged receiving mirror group 131 and the fixed bracket 110, the connection between the second circuit board portion 152 located in the lower extending bracket portion 111 and the first circuit board portion 151 located in the lower extending bracket portion 111 can be achieved by passing the connecting portion 153 between the first circuit board portion 151 and the second circuit board portion 152 between the receiving mirror group 131 and the lower extending bracket portion 111.

[0087] like Figure 6 As shown, in other embodiments, along the axial direction of the receiving lens group 131, a circuit board avoidance groove 131b is provided on one side of the receiving lens group 131 close to the lower extending bracket portion 111, and the connecting portion 153 between the first circuit board portion 151 and the second circuit board portion 152 is passed through the circuit board avoidance groove 131b, and the receiving lens group 131 is provided with a light emitting hole 131a, and the light emitting hole 131a is used to allow the emission light beam emitted by the light emitter 122 to pass through, and the light emitter 122 is arranged opposite to the emission lens group 121 through the light emitting hole 131a, and the emission lens group 121 is arranged in the light emitting hole 131a or outside the side of the light emitting hole 131a away from the light emitter 122, and the second circuit board portion 152 is partially or completely arranged in the light emitting hole 131a. By providing the circuit board avoidance groove 131b to raise the height of the circuit board 150, especially the second circuit board portion 152 relative to the receiving lens group 131, the second circuit board portion 152 is partially or completely arranged in the light emitting hole 131a, thereby ensuring that the light beam is unlikely to be blocked by the second circuit board portion 152 during the process of being focused by the receiving lens group 131, thereby increasing the amount of light beam that can be received by the light receiver 132, thereby improving the ranging reliability.

[0088] like Figure 1 and Figure 7As shown, in some embodiments, the fixing bracket 110 further includes a side extension bracket portion 112, the side extension bracket portion 112 extends from the lower extension bracket portion 111 in a direction away from the lower extension bracket portion 111, and the side extension bracket portion 112 is used to be fixedly connected to the circuit board 150. The fixed connection of the side extension bracket portion 112 to the circuit board 150 ensures the support width of the fixing bracket 110 for the circuit board 150, that is, ensures the support stability of the fixing bracket 110 for the circuit board 150.

[0089] like Figure 7 As shown, in some embodiments, the side extension bracket portion 112 includes a plurality of extension plate units 112a; the plurality of extension plate units 112a are arranged circumferentially around the lower extension bracket portion 111. In some embodiments, the extension lengths of the plurality of extension plate units 112a are the same, that is, the support widths of the fixed bracket 110 on the circuit board 150 on each extension plate unit 112a are the same, ensuring the circumferential support stability of the fixed bracket 110 on the circuit board 150. In other embodiments, such as Figure 7 As shown, since the distribution of electronic components at various positions on the circuit board 150 is often different, the extension lengths of at least two extension plate units 112 a may also be different, so as to avoid electronic components with different distributions on the circuit board 150 .

[0090] like Figure 2 As shown, in some embodiments, the circuit board 150 is matched with and fixedly connected to the lower surface of the side extension bracket portion 112, that is, the circuit board 150 is arranged on the lower surface of the side extension bracket portion 112 from the end of the lower extension bracket portion 111 away from the receiving lens group 131 and the circuit board 150 is fixed to the side extension bracket portion 112. If the receiving lens group 131 and the fixing bracket 110 are integrally formed, this matching method is conducive to the assembly of the circuit board 150.

[0091] like Figure 6 As shown, in other embodiments, the circuit board 150 is matched with and fixedly connected to the upper surface of the side extension bracket part 112. For the split fixing bracket 110 and the receiving lens group 131, the circuit board 150 can be arranged on the upper surface of the side extension bracket part 112 from top to bottom and the circuit board 150 and the side extension bracket part 112 are fixed, and then the receiving lens group 131 with the transmitting lens group 121 installed is arranged above the circuit board 150 with the light transmitter 122 and the light receiver 132 installed, and the receiving lens group 131 is fixed to the lower extension bracket part 111.

[0092] like Figure 3As shown, in some embodiments, a reinforcing structure 113 is provided between the side extension bracket portion 112 and the lower extension bracket portion 111. Since the side extension bracket portion 112 is a structure extending from the lower extension bracket portion 111 in a direction away from the lower extension bracket portion 111, the reinforcing structure 113 is provided to improve the support reliability of the side extension bracket portion 112 on the circuit board 150.

[0093] like Figure 7 As shown, in some embodiments, the fixing module 100 further includes a first fixing member 161, and the first fixing member 161 is used to fix the fixing bracket 110 and the circuit board 150. By providing the first fixing member 161, the circuit board 150 is fixed on the fixing bracket 110, and the fixing bracket 110, as a supporting structure, has a good supporting strength for the circuit board 150. In other embodiments, the fixing bracket 110 and the circuit board 150 can also be fixedly connected by gluing.

[0094] In some embodiments, the fixed module 100 further includes a second fixing member (not shown in the figure), which is used to fix the fixed bracket 110 and the base 200. By providing the second fixing member, the fixed module 100 is connected and fixed to the base 200 through the fixed bracket 110. The fixed bracket 110, as a supporting structure, has good supporting strength for the fixed module 100 as a whole. In other embodiments, the fixed bracket 110 and the base 200 can also be fixedly connected by gluing.

[0095] In some embodiments, the fixed module 100 further includes a third fixing member (not shown in the figure), which is used to fix the circuit board 150 and the base 200. By providing the third fixing member, the fixed module 100 is connected and fixed to the base 200 through the circuit board 150 with a larger area, which is conducive to the simplification of the structure. In other embodiments, the circuit board 150 and the base 200 can also be fixedly connected by gluing.

[0096] like Figure 2 As shown, in some embodiments, the fixed module 100 further includes a fourth fixing member 164, which is used to fix the fixed bracket 110, the circuit board 150 and the base 200. By setting the fourth fixing member 164, the fixed connection function between the fixed bracket 110 and the circuit board 150 is realized, and the function of fixing the fixed module 100 as a whole to the base 200 is also realized, that is, the reuse of structure and function is realized, and the effects of high support reliability and structural simplification are achieved. In other embodiments, the fixed bracket 110, the circuit board 150 and the base 200 can also be fixedly connected by gluing.

[0097] like Figure 2 and Figure 6 As shown, in some embodiments, the fixed module 100 is disposed on the upper side of the base 200, the base 200 is provided with a groove 200a, the recessed direction of the groove 200a is away from the fixed module 100, and the lower reflector assembly 140 is disposed in the groove 200a. The base 200 is provided with the groove 200a to accommodate the lower reflector assembly 140, which is conducive to reducing the reflection of stray light on the lower reflector assembly 140 and improving the reliability of ranging.

[0098] like Figure 8 As shown, in some embodiments, the base 200 is provided with an opening 200b, and the portion of the fixing bracket 110 connected with the lower reflector assembly 140 passes through the opening 200b from the upper side of the base 200 to the lower side of the base 200. The base 200 avoids the lower reflector assembly 140 by providing the opening 200b, which has the advantages of simple structure and small size.

[0099] like Figure 8 As shown, in some embodiments, the lower reflector assembly 140 includes a lower reflector 141 and a lower reflector adjusting member 142, the lower reflector 141 is fixed to the lower reflector adjusting member 142, and the lower reflector adjusting member 142 is fixed to the fixing bracket 110. By providing the lower reflector adjusting member 142, it is convenient to adjust the position and angle of the lower reflector 141 during the debugging stage, and after the adjustment is completed, the lower reflector adjusting member 142 is fixed to the fixing bracket 110 by gluing or other methods.

[0100] Other structures and operations of the optical ranging device 1000 and the self-propelled robot 2000 according to the embodiments of the present application are known to ordinary technicians in the field and will not be described in detail here.

[0101] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0102] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. An optical distance measuring device, characterized in that: It comprises a fixed module and a base, and the fixed module is fixedly arranged on the base; The fixed module includes a fixed bracket, a transmitting component, a receiving component, a lower reflector component and a circuit board; The transmitting assembly includes a transmitting lens group and a light emitter, and the light emitter is used to emit a transmitting light beam; The receiving assembly comprises a receiving lens group and a light receiver, wherein the light receiver is used to receive a receiving light beam reflected by an external object from the optical distance measuring device and passing through the receiving lens group and the lower reflector assembly; The optical transmitter and the optical receiver are arranged on the circuit board; The receiving mirror assembly, the lower reflector assembly and the circuit board are all fixedly connected to the fixing bracket.

2. The optical distance measuring device according to claim 1, characterized in that: The fixing bracket is integrally formed with the receiving lens assembly to achieve a fixed connection.

3. The optical distance measuring device according to claim 1 or 2, characterized in that: The fixed bracket includes a lower extending bracket portion, the upper end of the lower extending bracket portion is fixedly connected to the receiving mirror group, the lower end of the lower extending bracket portion is fixedly connected to the lower reflector assembly, and the receiving mirror group and the light receiver are both arranged on one side of the reflective surface of the lower reflector assembly.

4. The optical distance measuring device according to claim 3, characterized in that: The lower extending bracket portion is provided with a notch, and the circuit board includes a first circuit board portion and a second circuit board portion, the first circuit board portion is arranged on the outer side of the lower extending bracket portion, and the second circuit board portion is arranged on the inner side of the lower extending bracket portion, the light transmitter and the light receiver are arranged on the second circuit board portion, and the connecting portion between the first circuit board portion and the second circuit board portion passes through the notch.

5. The optical distance measuring device according to claim 4, characterized in that: The lower extension bracket portion is formed as a first extension column unit, the first extension column unit is a C-shaped ring structure provided with the notch, the C-shaped opening of the first extension column unit is formed as the notch, the upper end of the first extension column unit is fixedly connected to the receiving mirror assembly, and the lower end of the first extension column unit is fixedly connected to the lower reflective mirror assembly; or, The lower extension bracket portion includes a plurality of second extension column units, which are circumferentially spaced around the second circuit board portion, the upper ends of the second extension column units are fixedly connected to the receiving mirror group, and the lower ends of the second extension column units are fixedly connected to the lower reflective mirror assembly, wherein the interval between two second extension column units forms the notch.

6. The optical distance measuring device according to claim 3, characterized in that: The circuit board includes a first circuit board portion and a second circuit board portion, the first circuit board portion is arranged on the outer side of the lower extending bracket portion, the second circuit board portion is arranged on the inner side of the lower extending bracket portion, the light transmitter and the light receiver are arranged on the second circuit board portion, and the connecting portion between the first circuit board portion and the second circuit board portion is passed between the receiving lens group and the lower extending bracket portion.

7. The optical distance measuring device according to claim 6, characterized in that: Along the axis direction of the receiving lens assembly, a circuit board avoidance groove is provided on one side of the receiving lens assembly close to the lower extending bracket portion, and the connecting portion between the first circuit board portion and the second circuit board portion is passed through the circuit board avoidance groove; The receiving mirror group is provided with a light emitting hole, and the light emitting hole is used to allow the emission light beam emitted by the light emitter to pass through. The emitting mirror group is arranged in the light emitting hole or outside the side of the light emitting hole away from the light emitter, and the second circuit board part is partially or completely arranged in the light emitting hole.

8. The optical distance measuring device according to claim 4, characterized in that: The first circuit board portion is sleeved on the second circuit board portion, the connecting portion and the avoiding portion are provided between the first circuit board portion and the second circuit board portion, and the receiving light beam received by the receiving mirror group passes through the avoiding portion and then reaches the lower reflector assembly.

9. The optical distance measuring device according to claim 3, characterized in that: The fixing bracket further includes a side extension bracket portion, which extends from the lower extension bracket portion in a direction away from the lower extension bracket portion, and the side extension bracket portion is used for fixed connection with the circuit board.

10. The optical distance measuring device according to claim 9, characterized in that: The side extension bracket portion includes a plurality of extension plate units; the plurality of extension plate units are circumferentially spaced around the lower extension bracket portion; The extension lengths of the plurality of extension plate units are the same, or the extension lengths of at least two of the extension plate units are different.

11. The optical distance measuring device according to claim 9, characterized in that: The circuit board is matched with and fixedly connected to the lower surface or the upper surface of the side extension bracket portion.

12. The optical distance measuring device according to claim 9, characterized in that: A reinforcement structure is provided between the side extension bracket portion and the lower extension bracket portion.

13. The optical distance measuring device according to claim 1, characterized in that: The fixing bracket and the circuit board are fixedly connected by a first fixing member or by gluing; and / or, The fixing bracket and the base are fixedly connected by a second fixing member or by gluing; and / or, The circuit board and the base are fixedly connected by a third fixing member or by gluing; and / or, The fixing bracket, the circuit board and the base are fixedly connected by a fourth fixing member or by gluing.

14. The optical distance measuring device according to claim 1, characterized in that: A portion of the base is formed as the lower reflector assembly; or, The fixed module is arranged on the upper side of the base, the base is provided with a groove, the recessed direction of the groove is the direction away from the fixed module, the lower reflector assembly is arranged in the groove, or the groove is formed as the lower reflector assembly; or, The base is provided with an opening, and the portion of the fixing bracket connected with the lower reflector assembly passes through the opening from the upper side of the base to the lower side of the base.

15. The optical distance measuring device according to claim 1, characterized in that: The lower reflector assembly comprises a lower reflector and a lower reflector adjusting member, the lower reflector is fixed on the lower reflector adjusting member, and the lower reflector adjusting member is fixed on the fixing bracket.

16. The optical distance measuring device according to claim 1, characterized in that: Along the axis direction of the transmitting mirror group, the transmitting mirror group, the light transmitter, the circuit board, the light receiver and the lower reflector assembly are arranged in sequence; And / or, the axis of the transmitting mirror assembly is parallel or coaxial with the axis of the receiving mirror assembly.

17. The optical distance measuring device according to claim 1, characterized in that: It also includes an upper reflector assembly, which is rotatably arranged on the base. The upper reflector assembly is used to reflect the emission light beam emitted by the light emitter to the external area of ​​the optical ranging device. The rotation axis of the upper reflector assembly, the axis of the transmitting lens group and the axis of the receiving lens group are coaxial.

18. The optical distance measuring device according to claim 17, characterized in that: The upper reflector assembly comprises an upper reflector and a rotating seat, wherein the rotating seat is rotatably arranged on the bearing seat of the base through a bearing; The rotating seat cooperates with the outer side surface of the bearing, the bearing seat cooperates with the inner side surface of the bearing, and the bearing seat is outermostly arranged on the receiving mirror assembly; or, the rotating seat cooperates with the inner side surface of the bearing, the bearing seat cooperates with the outer side surface of the bearing, and the bearing seat is outermostly arranged on the receiving mirror assembly.

19. The optical distance measuring device according to claim 17, characterized in that: It also includes a driving assembly, which is used to drive the upper reflector assembly to rotate; The driving assembly is coaxially arranged with the upper reflector assembly, or the driving assembly is non-coaxially arranged with the upper reflector assembly; and / or, The driving assembly is directly connected to the upper reflector assembly, or the driving assembly is transmission-connected to the upper reflector assembly via a transmission assembly.

20. A self-propelled robot, characterized in that: The optical distance measuring device comprises a robot body and an optical distance measuring device as described in any one of claims 1-19.

Images