Upper shell, optical distance measuring device and mobile robot

Abstract

The utility model provides an upper shell, an optical distance measuring device and a mobile robot. The upper shell comprises a first cover body and a second cover body. The first cover body is used for covering an optical machine assembly of the optical distance measuring device. The second cover body is used for supporting a driving assembly of the optical distance measuring device. The first cover body and the second cover body are fixedly connected, and the first cover body is located on the upper side of the second cover body. The upper shell is divided into the first cover body and the second cover body, and the first cover body and the second cover body play different roles, so that the structural shape design of the first cover body only needs to adapt to the ray machine assembly, and the structural shape design of the second cover body only needs to adapt to the driving assembly, and therefore, the structure of the upper shell can be ensured to be most simplified on the premise of playing a role in supporting the driving assembly; design redundancy is avoided, the structure of the base of the optical distance measuring device is simplified, and the design difficulty and the processing difficulty of the base are reduced; the optical machine assembly and the driving assembly are arranged to have certain coincidence in height, and conditions are provided for height size compression of the optical distance measuring device.

Description

Technical Field

[0001] The utility model relates to the field of optical ranging, in particular to an upper shell, an optical ranging device and a mobile robot. Background Art

[0002] With the rapid development of the field of lidar technology, the application fields of lidar are becoming larger and larger. In particular, small rotary lidars are highly regarded and applied in various industries due to their wide applicability and small size. In order to install a driving module for driving the optical-mechanical module to rotate, in the related art, the driving module is generally fixedly installed on a base, that is, an installation structure for the driving module needs to be provided on the base, which makes the structure of the base that originally needs to install many components relatively complex, that is, it has a relatively large design difficulty and processing difficulty. Summary of the Utility Model

[0003] The main purpose of the utility model is to propose an upper shell, an optical ranging device and a mobile robot, which support the driving component with the upper shell for the optical ranging device, thereby simplifying the structure of the base of the optical ranging device and reducing the design difficulty and processing difficulty of the base of the optical ranging device.

[0004] To achieve the above object, the embodiments of the utility model adopt the following technical solutions:

[0005] An upper shell, adapted to be fixedly connected to the base of an optical ranging device, the upper shell comprising:

[0006] A first cover body, the first cover body being used for covering the optical-mechanical component of the optical ranging device;

[0007] A second cover body, the second cover body being used for supporting the driving component of the optical ranging device;

[0008] Wherein, the first cover body and the second cover body are fixedly connected, and the first cover body is located above the second cover body.

[0009] In some embodiments, the upper shell further comprises a side wall, the upper end of the side wall is integrally formed or fixedly connected to the first cover body, and the lower end of the side wall is integrally formed or fixedly connected to the second cover body.

[0010] In some embodiments, the side wall comprises a first side wall, and at least a part of the first side wall extends circumferentially along the outer side of the driving component.

[0011] In some embodiments, the first side wall is annular, and the first side wall extends circumferentially along the outer side of the driving component, and at least a part of the first side wall is located between the optical-mechanical component and the driving component.

[0012] In some embodiments, one end of the first side wall away from the second cover body defines a first opening, and the upper shell further comprises a sealing cover, and the sealing cover covers the first opening and the driving component.

[0013] In some embodiments, the side wall includes a second side wall, at least a part of the second side wall being a light-transmitting structure and extending circumferentially along the outer side of the optical machine assembly.

[0014] In some embodiments, the second side wall is annular, and the second side wall extends circumferentially along the outer side of the optical machine assembly, at least a part of the second side wall being located between the optical machine assembly and the driving assembly;

[0015] Or, the second side wall is annular, and the second side wall extends circumferentially along the outer side of the whole of the optical machine assembly and the driving assembly.

[0016] In some embodiments, the side wall has a third opening for passing a wire, where the wire is used to connect the circuit assembly of the optical ranging device to the driving assembly;

[0017] Or,

[0018] The second cover body has a fourth opening for passing a wire, where the wire is used to connect the circuit assembly of the optical ranging device to the driving assembly.

[0019] In some embodiments, the second cover body has a second opening, the output end of the driving assembly being adapted to pass through the second opening and then connect to the input end of the transmission assembly of the optical ranging device, and the second cover body is further used to cover at least a part of the transmission assembly, where the output end of the transmission assembly is adapted to be connected to the optical machine assembly.

[0020] An embodiment of the second aspect of the present utility model further provides an optical ranging device, including:

[0021] A base, an optical machine assembly, a driving assembly, and the upper shell of any one of the above embodiments, the upper shell being fixedly connected to the base, the base being used to support the optical machine assembly and the first cover body of the upper shell being used to cover the optical machine assembly, the second cover body of the upper shell being used to support the driving assembly, and the driving assembly being used to drive the optical machine assembly to rotate.

[0022] An embodiment of the third aspect of the present utility model further provides a mobile robot, including the optical ranging device of any one of the above embodiments.

[0023] Compared with the prior art, the beneficial effects of the present utility model are:

[0024] The upper shell of the present utility model includes a first cover body and a second cover body. The first cover body is used to cover the optical-mechanical component of the optical ranging device, and the second cover body is used to support the driving component of the optical ranging device. The first cover body and the second cover body are fixedly connected, and the first cover body is located above the second cover body. Compared with the setting method in the related art of fixing the driving module to the base of the lidar, the present utility model divides the upper shell into the first cover body and the second cover body, which play different roles respectively, so that the structural shape design of the first cover body only needs to adapt to the optical-mechanical component, and the structural shape design of the second cover body only needs to adapt to the driving component. Thus, on the premise of playing a supporting role for the driving component, it can ensure the simplest structure of the upper shell, avoid design redundancy, and thus simplify the structure of the base of the optical ranging device, reduce the design difficulty and processing difficulty of the base of the optical ranging device; in addition, since the second cover body is set to sink relative to the first cover body, the first cover body covers the optical-mechanical component, and the second cover body supports the driving component, the optical-mechanical component and the driving component can be set to have a certain overlap in height, providing conditions for compressing the height dimension of the optical ranging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0026] Figure 1 The first side three-dimensional schematic diagram of the upper shell provided in the first embodiment of the present utility model;

[0027] Figure 2 The top view schematic diagram of the upper shell provided in the first embodiment of the present utility model;

[0028] Figure 3 The second side three-dimensional schematic diagram of the upper shell provided in the first embodiment of the present utility model;

[0029] Figure 4 The second side three-dimensional schematic diagram of the upper shell provided in the second embodiment of the present utility model;

[0030] Figure 5 The first side three-dimensional schematic diagram of the optical ranging device provided in the first embodiment of the present utility model;

[0031] Figure 6 The sectional view schematic diagram of the optical ranging device provided in the first embodiment of the present utility model;

[0032] Figure 7This is the first-side three-dimensional schematic diagram of the optical ranging device provided in the second embodiment of the present utility model.

[0033] Explanation of the reference numerals in the attached drawings:

[0034] Upper shell 100;

[0035] First cover 110;

[0036] Second cover 120; Second opening 121; Fourth opening 122;

[0037] Side wall 130; First side wall 131; Second side wall 132; Third opening 133;

[0038] First opening 140;

[0039] Sealing cover 150;

[0040] Optical ranging device 200;

[0041] Base 210;

[0042] Opto-mechanical component 220;

[0043] Drive component 230;

[0044] Circuit component 240; Circuit board 241;

[0045] Transmission component 250; Driving wheel 251; Driven wheel 252; Transmission member 253.

[0046] The realization, functional features and advantages of the purpose of the present utility model will be further described with reference to the embodiments and the attached drawings. Specific embodiments

[0047] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the attached drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0048] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present utility model, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0049] In addition, if the descriptions such as "first" and "second" are involved in the embodiments of the present utility model, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or", "and / or" or "and / or" appear throughout the text, their meanings include three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution where A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0050] Referring to Figures 1-7 , in the embodiment of the present utility model, an upper shell 100 is provided, which is adapted to be fixedly connected to the base 210 of the optical ranging device 200. Among them, the base 210 of the optical ranging device 200 may have a bottom for supporting various components of the optical ranging device 200. The base 210 may define an inner cavity located on the upper side of the bottom. Various components of the optical ranging device 200 (such as any one of the optical machine component 220, the transmission component 250, and the circuit component 240) may be connected to the bottom of the base 210 and located in the inner cavity of the base 210.

[0051] Based on this, the upper shell 100 can cooperate with the base 210 to accommodate various components of the optical ranging device 200. Referring to Figures 1-3 and Figures 5-6 , the upper shell 100 includes a first cover body 110 and a second cover body 120. The first cover body 110 is used to cover the optical machine component 220 of the optical ranging device 200. The second cover body 120 is used to support the driving component 230 of the optical ranging device 200. In addition, the first cover body 110 and the second cover body 120 are fixedly connected, and the first cover body 110 is located above the second cover body 120. It can be understood that, on the one hand, along the vertical direction, the first cover body 110 can be disposed opposite to the optical machine component 220 to cover the optical machine component 220. With this function, the first cover body 110 can have any suitable structural shape corresponding to the structural shape of the optical machine component 220. On the other hand, along the vertical direction, the second cover body 120 can be disposed opposite to the driving component 230 and located below the driving component 230 (it can be entirely below the driving component 230 or only below the installation surface of the driving component 230) to support the driving component 230. With this function, the second cover body 120 can have any suitable structural shape corresponding to the structural shape of the driving component 230.

[0052] As can be seen, the upper shell 100 of the present utility model includes a first cover body 110 and a second cover body 120. The first cover body 110 is used to cover the optical machine assembly 220 of the optical ranging device 200, and the second cover body 120 is used to support the driving assembly 230 of the optical ranging device 200. The first cover body 110 and the second cover body 120 are fixedly connected, and the first cover body 110 is located above the second cover body 120. Compared with the setting method in the related art of fixing the driving module to the base of the lidar, the present utility model divides the upper shell 100 into the first cover body 110 and the second cover body 120, which play different roles respectively, so that the structural shape design of the first cover body 110 only needs to adapt to the optical machine assembly 220, and the structural shape design of the second cover body 120 only needs to adapt to the driving assembly 230. Thus, on the premise of playing a supporting role for the driving assembly 230, the structure of the upper shell 100 can be ensured to be the simplest, avoiding design redundancy, thereby simplifying the structure of the base 210 of the optical ranging device 200 and reducing the design and processing difficulties of the base 210 of the optical ranging device 200; in addition, since the second cover body 120 is set to sink relative to the first cover body 110, the first cover body 110 covers the optical machine assembly 220, and the second cover body 120 supports the driving assembly 230, the optical machine assembly 220 and the driving assembly 230 can be set to have a certain overlap in height, providing conditions for compressing the height dimension of the optical ranging device 200. For other structures of the upper shell 100, see Figures 1-3 and Figures 5-6 , in some embodiments, the upper shell 100 further includes a side wall 130. The upper end of the side wall 130 is integrally formed or fixedly connected with the first cover body 110, and the lower end of the side wall 130 is integrally formed or fixedly connected with the second cover body 120. The above-mentioned fixed connection method can be any suitable connection method such as snap connection, magnetic attraction connection, welding, etc. When the side wall 130 is integrally formed with both the first cover body 110 and the second cover body 120, the above three can be integrally formed together, thereby improving the integration degree of the upper shell 100 and saving the manufacturing cost.

[0053] Based on the side wall 130 defined in the above embodiment, the side wall 130 can specifically include various structures to play different roles. See Figures 1-3 and Figures 5-6, in some embodiments, the sidewall 130 includes a first sidewall 131, and at least a part of the first sidewall 131 extends circumferentially along the outer side of the driving component 230. Thus, in some embodiments, when viewed in the vertical direction, the first sidewall 131 can extend circumferentially along the outer side of the driving component 230 to form an arc. In other embodiments, the first sidewall 131 is annular, and the first sidewall 131 extends circumferentially along the outer side of the driving component 230, that is, when viewed in the vertical direction, the first sidewall 131 surrounds an annular shape with both ends closed, and this annular shape can be a circular ring or a non-circular ring. In addition, at least a part of the first sidewall 131 is located between the optical engine component 220 and the driving component 230, so that while the first sidewall 131 can limit the displacement of the driving component 230 in the horizontal direction, it can also separate the driving component 230 from the optical engine component 220 to play a role in sealing and light shielding.

[0054] In addition, in some embodiments, referring to Figure 1 , one end of the first sidewall 131 away from the second cover body 120 defines a first opening 140. Specifically, the end of the first sidewall 131 away from the second cover body 120 is the end where the first sidewall 131 is connected to the first cover body 110, and this part extends annularly circumferentially along the outer side of the driving component 230, so as to form the first opening 140 in the plane where the first cover body 110 is located. The first opening 140 can be specifically used to extend into and install the driving component 230, and in different embodiments, the first opening 140 can be higher than the upper end of the driving component 230, or flush with the upper end of the driving component 230, or lower than the upper end of the driving component 230. In order to seal the first opening 140, the upper shell 100 can further include a sealing cover 150, so that the sealing cover 150 covers the first opening 140 and the driving component 230, thereby the sealing cover 150 plays a role in dust prevention and damage prevention. And for the sake of convenience, the sealing cover 150 can be configured to be detachably fixedly connected to the opening edge of the first opening 140.

[0055] It should be noted that the horizontal direction in the present utility model is the direction perpendicular to the rotation axis of the optical engine component 220. Therefore, the left and right directions shown in the drawings are only two of the horizontal directions and do not represent all the horizontal directions.

[0056] In addition, for the convenience of installing the driving component 230 more, referring to Figures 1-3 and Figure 6 , in some embodiments, the second cover body 120 has a second opening 121, and the output end of the driving component 230 is adapted to pass through the second opening 121 and then connect to the input end of the transmission component 250 of the optical ranging device 200, and the second cover body 120 is further used to cover at least a part of the transmission component 250.

[0057] The output end of the transmission assembly 250 is suitable for connecting to the optical-mechanical assembly 220. For the specific form of the transmission assembly 250, see Figure 6 In some embodiments, the transmission assembly 250 may include a driving wheel 251, which may be fixedly connected to the output end of the driving assembly 230 and located at the lower side of the second opening 121. Thus, the driving wheel 251 may be transmission-connected to the optical-mechanical assembly 220. More specifically, in some embodiments, the transmission assembly 250 includes a driving wheel 251, a driven wheel 252, and a transmission member 253. Among them, the driving wheel 251 is connected to the driving assembly 230, the driven wheel 252 is connected to the optical-mechanical assembly 220, and the driving wheel 251 and the driven wheel 252 are transmission-connected via the transmission member 253. It can be understood that the driving assembly 230 can transmit the driving force to the driving wheel 251, the driving wheel 251 transmits the driving force to the driven wheel 252 via the transmission member 253, and the driven wheel 252 further drives the optical-mechanical assembly 220. According to the above functions, exemplarily, in some embodiments, the driving wheel 251 and the driven wheel 252 can be turntables, the transmission member 253 can be a belt or chain wound around the turntable, or the driving wheel 251, the driven wheel 252 and the transmission member 253 can all be gears.

[0058] Regarding the position setting of the transmission assembly 250, the transmission assembly 250 is arranged on the upper side of the base 210, and the optical-mechanical assembly 220 and the driving assembly 230 are both arranged on the upper side of the transmission assembly 250, and at least part of the circuit assembly 240 is located between the upper side of the base 210 and the lower side of the transmission assembly 250 in the vertical direction. With the above-mentioned setting, the upper and lower spaces of the transmission assembly 250 can be fully utilized, and it is helpful to avoid the interference between the circuit assembly 240 and other components. It should be noted that, in some embodiments, the optical-mechanical assembly 220 (or the driving assembly 230) can be partially connected to the transmission assembly 250, and the other part is located on the upper side of the transmission assembly 250. Specifically, when the transmission assembly 250 includes a belt, the optical-mechanical assembly 220 (or the driving assembly 230) can be partially wrapped by the belt, and the other part is located on the upper side of the transmission assembly 250.

[0059] Further, for other structures of the side wall 130, see Figures 1-3 as well as Figures 5-6, in some embodiments, the sidewall 130 includes a second sidewall 132, at least a portion of the second sidewall 132 is a light-transmitting structure and extends circumferentially along the outer side of the optical machine assembly 220. It can be understood that the optical machine assembly 220 can emit a light beam for ranging. Thus, while the upper shell 100 can cover the optical machine assembly 220, in order not to interfere with the normal operation of the optical machine assembly 220, the second sidewall 132 extending around the optical machine assembly 220 can be set as a light-transmitting structure. The light-transmitting structure can specifically be an opening through which the light beam can pass, or through the design of the material, at least a portion of the second sidewall 132 can be made available for the light beam to pass through.

[0060] For the above-mentioned extension form of the second sidewall 132, refer to Figure 7 , in some embodiments, the second sidewall 132 is annular, and the second sidewall 132 extends circumferentially along the outer side of the optical machine assembly 220, and at least a portion of the second sidewall 132 is located between the optical machine assembly 220 and the driving assembly 230. It can be understood that in this type of embodiment, in order to make the second sidewall 132 better approach and surround the optical machine assembly 220 and effectively block the ambient light around the optical machine assembly 220, the second sidewall 132 can also be provided on the side of the optical machine assembly 220 close to the driving assembly 230 in the horizontal direction. Refer to Figure 5 , in some other embodiments, the second sidewall 132 is annular, and the second sidewall 132 extends circumferentially along the outer side of the whole of the optical machine assembly 220 and the driving assembly 230. It can be understood that in this type of embodiment, the second sidewall 132 can surround both the optical machine assembly 220 and the driving assembly 230 at the same time, thereby simplifying the structure and manufacturing cost of the second sidewall 132.

[0061] Furthermore, for other structures of the sidewall 130, refer to Figure 4 , in some embodiments, the sidewall 130 has a third opening 133 for threading a wire. The wire is used to connect the circuit assembly 240 of the optical ranging device 200 to the driving assembly 230, that is, an electrical connection between the circuit assembly 240 and the driving assembly 230 can be formed through the wire. And combined with the above-mentioned embodiments for the setting of the sidewall 130, the third opening 133 can be provided on the first sidewall 131 or the second sidewall 132.

[0062] Similar to the function of the above-mentioned third opening 133, refer to Figure 4, in some embodiments, the second cover 120 has a fourth opening 122 for passing a wire, which can also be used to connect the circuit component 240 and the driving component 230 of the optical ranging device 200. In combination with the setting of the second opening 121 in the above embodiments, in some embodiments, in order not to interfere with the output end of the driving component 230, the fourth opening 122 can be spaced from the second opening 121; in other embodiments, the fourth opening 122 and the second opening 121 can be the same opening, that is, it can simultaneously serve the function of passing the output end of the driving component 230 and the wire. In addition, according to requirements, the third opening 133 and the fourth opening 122 in the above embodiments can have any suitable cross-sectional shape, such as circular, elliptical, rectangular, etc.

[0063] An embodiment of the second aspect of the present invention further provides an optical ranging device 200, including a base 210, an optical machine assembly 220, a driving component 230, and the upper shell 100 of any of the above embodiments. Among them, the upper shell 100 is fixedly connected to the base 210. The base 210 is used to support the optical machine assembly 220, and the first cover 110 of the upper shell 100 is used to cover the optical machine assembly 220. The second cover 120 of the upper shell 100 is used to support the driving component 230, and the driving component 230 is used to drive the optical machine assembly 220 to rotate.

[0064] For the specific settings and cooperation relationships of other components of the optical ranging device 200 except the upper shell 100. See Figures 5-6 , the optical machine assembly 220 is used to emit a light beam and receive the light beam reflected by an external object. Thus, the optical machine assembly 220 can measure the distance by the time required for the light beam emitted by it to be received again. At the same time, in addition to measuring the distance to an external obstacle, the optical machine assembly 220 can also be used for obstacle recognition, modeling, or mapping of the surrounding environment. According to the above functions, in some embodiments, the optical machine assembly 220 may specifically include a light emitter for emitting a light beam, a collimating lens for calibrating the light beam, a focusing lens for receiving the light beam reflected by an external target, a filter, a light receiver, etc.

[0065] See Figures 5-6 , the driving component 230 is used to drive the optical machine assembly 220 to rotate, so that the optical machine assembly 220 can cover a larger scanning and ranging range through rotational scanning, thereby realizing obstacle recognition, modeling, or mapping of the surrounding environment. The form in which the driving component 230 drives the optical machine assembly 220 can be direct driving (the driving component 230 is directly connected to the optical machine assembly 220), or indirect driving (the driving component 230 is indirectly connected to the optical machine assembly 220 through other components). According to the above functions, in some embodiments, the driving component 230 may specifically include a motor, and the output end of the motor can be directly or indirectly connected to the optical machine assembly 220. SeeFigures 5-6 , in some embodiments, the optical ranging device 200 may further include a circuit component 240. The circuit component 240 may be used to supply electrical energy to the driving component 230 or the optical machine component 220, and may also be used to receive or send electrical signals to or from the driving component 230 or the optical machine component 220. According to the above functions, in some embodiments, the circuit component 240 may specifically include a circuit board 241, a circuit board fixing member, an external wiring seat, a controller, etc. In addition, the wires electrically connected to the circuit component 240 may correspondingly pass through the third opening 133 or the fourth opening 122 of the above embodiments.

[0066] For a more specific setting of the circuit component 240, in some embodiments, the circuit component 240 includes a circuit board 241, and the circuit component 240 further includes at least one of a circuit board fixing member, an external wiring seat, and a controller. Among them, the circuit board fixing member is used to fix the circuit board 241 on the base 210, the external wiring seat is used to electrically connect the optical machine component 220 or the driving component 230 to the circuit board 241, and the controller is used to control the power output of the driving component 230 and / or the beam output of the optical machine component 220. Based on the above composition of the circuit component 240, in some embodiments, at least one of the circuit board fixing member, the external wiring seat, and the controller may be disposed above the circuit board 241, and is located outside the facing space between the base 210 and the transmission member 253 in the vertical direction, and is spaced from the transmission member 253. That is to say, when observing in the vertical direction, at least one of the circuit board fixing member, the external wiring seat, and the controller has no overlapping part with the transmission member 253 (or, at least one of the circuit board fixing member, the external wiring seat, and the controller is horizontally spaced from the transmission member 253). The above setting enables other electrical components of the circuit component 240 except the circuit board 241 (especially electrical components with relatively large heights such as the circuit board fixing member, the external wiring seat, and the controller) to effectively avoid the transmission member 253, and prevent the transmission member 253 from interfering with other electrical components of the circuit component 240 except the circuit board 241 due to its own movement or vibration. It should be noted that the horizontal direction in the present invention is the direction perpendicular to the rotation axis of the optical machine component 220. Therefore, the left and right directions shown in the drawings are only two of the horizontal directions, and do not represent all the horizontal directions.

[0067] See Figures 5-6, in some embodiments, in the vertical direction, the height of the lowest point of the transmission assembly 250 is greater than or equal to the height of the upper surface of the circuit board 241. This setting can prevent the transmission assembly 250 from interfering with the circuit board 241 due to its own movement or vibration. Or in some other embodiments, the height of the lowest point of the transmission assembly 250 is less than the height of the upper surface of the circuit board 241, that is to say, there is a partially overlapping part of the transmission assembly 250 and the circuit board 241 in height. This setting can make better use of the height space and make the layout of the transmission assembly 250 and the circuit board 241 more compact in the height direction. In some embodiments, in order to prevent the transmission assembly 250 from interfering with the circuit board 241, the circuit board 241 may have an opening, and the overlapping part of the circuit board 241 and the transmission assembly 250 in height can pass through the opening of the circuit board 241. Thus, the circuit board 241 can avoid the transmission assembly 250 only through the opening without having to completely avoid the transmission assembly 250 in the horizontal direction; in some other embodiments, in order to prevent the transmission assembly 250 from interfering with the circuit board 241, the circuit board 241 may also have a recess, that is, the circuit board 241 can only form a recess without forming a complete round hole, and the overlapping part of the circuit board 241 and the transmission assembly 250 in height can pass through the recess of the circuit board 241. Thus, the circuit board 241 can avoid the transmission assembly 250 only through the recess without having to completely avoid the transmission assembly 250 in the horizontal direction.

[0068] In addition to the above description, various settings of the optical ranging device 200 can refer to the relevant description of the upper shell 100 in the first aspect embodiment of the present invention, which will not be elaborated here.

[0069] An embodiment of the third aspect of the present invention further provides a mobile robot, including the optical ranging device 200 in any of the above embodiments.

[0070] Benefiting from the improvements to the upper shell 100 in the above embodiments, the optical ranging device 200 in the second aspect embodiment of the present invention and the mobile robot in the third aspect embodiment have the same technical effects as the upper shell 100 in the above embodiments. This will not be elaborated here.

[0071] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the application concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied to other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. The upper shell is adapted to be fixedly connected to the base of the optical ranging device, and is characterized in that, The upper shell includes: A first cover body, which is used to cover the optical machine component of the optical ranging device; A second cover body, which is used to support the driving component of the optical ranging device; Wherein, the first cover body and the second cover body are fixedly connected, and the first cover body is located above the second cover body.

2. The upper shell according to claim 1, characterized in that, It further includes a side wall, the upper end of the side wall is integrally formed or fixedly connected with the first cover body, and the lower end of the side wall is integrally formed or fixedly connected with the second cover body.

3. The upper shell according to claim 2, characterized in that, The side wall includes a first side wall, and at least a part of the first side wall extends circumferentially along the outer side of the driving component.

4. The upper shell according to claim 3, wherein The first side wall is annular, and the first side wall extends circumferentially along the outer side of the driving component, and at least a part of the first side wall is located between the optical machine component and the driving component.

5. The upper shell according to claim 4, characterized in that, One end of the first side wall away from the second cover body defines a first opening, and the upper shell further includes a sealing cover, which covers the first opening and the driving component.

6. The upper shell according to claim 2, characterized in that, The side wall includes a second side wall, and at least a part of the second side wall is a light-transmitting structure and extends circumferentially along the outer side of the optical machine component.

7. The upper shell according to claim 6, characterized in that, The second side wall is annular, and the second side wall extends circumferentially along the outer side of the optical machine component, and at least a part of the second side wall is located between the optical machine component and the driving component; Or, the second side wall is annular, and the second side wall extends circumferentially along the outer side of the whole of the optical machine component and the driving component.

8. The upper shell according to claim 2, wherein The side wall has a third opening for passing a wire, and the wire is used to connect the circuit component of the optical ranging device and the driving component; Or, The second cover body has a fourth opening for passing a wire, and the wire is used to connect the circuit component of the optical ranging device and the driving component.

9. The upper shell according to claim 1, wherein The second cover body has a second opening, and the output end of the driving component is adapted to pass through the second opening and then connect to the input end of the transmission component of the optical ranging device. The second cover body is further used to cover at least a part of the transmission component, wherein the output end of the transmission component is adapted to be connected to the optical machine component.

10. Optical ranging device, characterized in that, It includes: A base, an optical machine component, a driving component and the upper shell according to any one of claims 1-9. The upper shell is fixedly connected to the base. The base is used to support the optical machine component, and the first cover body of the upper shell is used to cover the optical machine component. The second cover body of the upper shell is used to support the driving component, and the driving component is used to drive the optical machine component to rotate.

11. Mobile robot, characterized in that, It includes: The optical ranging device according to claim 10.

Images