Optical distance measuring device and mobile robot

Abstract

The utility model provides an optical distance measuring device and a mobile robot. The optical distance measuring device comprises a base, a supporting assembly, an optical machine assembly and a driving assembly. The supporting assembly is arranged on the upper side of the base. The light machine assembly is connected to the base and arranged on the upper side of the base. The light machine assembly is used for emitting light beams and receiving the light beams reflected by external objects. The driving assembly is supported on the supporting assembly, arranged on the upper side of the supporting assembly and used for driving the optical machine assembly to rotate. The ray machine assembly and the driving assembly are respectively located on the upper side of the base, and the driving assembly is supported by the supporting assembly. Therefore, the optical distance measuring device provided by the utility model has a smaller height, and the occupied height space is reduced.

Description

Technical Field

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

[0002] With the rapid development of the field of lidar technology, the application field of lidar is becoming larger and larger. In particular, small rotary lidars have received attention and applications in various industries due to their wide applicability and small size. In related technologies, a motor module and an optomechanical module are stacked up and down, and the base is used to support the motor module in a hoisting manner. This setting makes the overall height of the lidar relatively high and occupies more installation space for the robot in terms of height. Summary of the Utility Model

[0003] The main object of the utility model is to propose an optical ranging device and a mobile robot, which have a smaller height and reduce the occupied height space.

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

[0005] An optical ranging device, comprising:

[0006] A base;

[0007] A support assembly, disposed on the upper side of the base;

[0008] An optomechanical assembly, connected to the base and disposed on the upper side of the base, the optomechanical assembly being configured to emit a light beam and receive the light beam reflected by an external object;

[0009] A drive assembly, supported by the support assembly and disposed on the upper side of the support assembly, the drive assembly being configured to drive the optomechanical assembly to rotate.

[0010] In some embodiments, the support assembly has a first opening, and the drive end of the drive assembly passes vertically downward through the first opening;

[0011] The optical ranging device further includes a transmission assembly, the transmission assembly includes a driving wheel, the driving wheel is fixedly connected to the drive end of the drive assembly and is located below the first opening, the driving wheel is in transmission connection with the optomechanical assembly, and the diameter of the driving wheel is smaller than the diameter of the first opening.

[0012] In some embodiments, the support assembly includes a support plate and a lower side wall, the support plate supports the drive assembly in the vertical direction, one end of the lower side wall is connected to the support plate and the other end is connected to the upper surface of the base, the support plate has a first opening, and the lower side wall has a second opening;

[0013] The optical distance measuring device further includes a transmission assembly. The transmission assembly includes a driving wheel and a flexible transmission member. The driving end of the driving assembly passes through the first opening in the vertical direction. The driving wheel is fixedly connected to the driving end of the driving assembly and is located below the first opening. The driving wheel and the optical machine assembly are drivingly connected through the flexible transmission member so that the driving assembly can drive the optical machine assembly to rotate; the flexible transmission member passes through the second opening.

[0014] In some embodiments, the first opening and the second opening are partitioned by a part of the support plate and / or a part of the lower side wall;

[0015] Or,

[0016] The first opening communicates with the second opening.

[0017] In some embodiments, the support plate includes a first support plate portion and a second support plate portion arranged at intervals along the direction of surrounding the first opening, and the lower side wall includes a first lower side wall portion and a second lower side wall portion arranged at intervals along the direction of surrounding the first opening;

[0018] The number of the second openings is two;

[0019] Along the direction of surrounding the first opening, one second opening is located between one end of the first lower side wall portion and one end of the second lower side wall portion, and communicates with the first opening through the interval between one end of the first support plate portion and one end of the second support plate portion;

[0020] Along the direction of surrounding the first opening, the other second opening is located between the other end of the first lower side wall portion and the other end of the second lower side wall portion, and communicates with the first opening through the interval between the other end of the first support plate portion and the other end of the second support plate portion;

[0021] A part of the flexible transmission member passes through one second opening, and a part of the flexible transmission member passes through the other second opening.

[0022] In some embodiments, the support assembly further includes a first strengthening portion; the first strengthening portion connects the outer peripheral surface of the second lower side wall portion and the upper surface of the base,

[0023] And / or,

[0024] The support assembly further includes a second strengthening portion; the second strengthening portion connects the inner peripheral surface of the second lower side wall portion and the lower surface of the second support plate portion,

[0025] And / or,

[0026] The support assembly further includes an upper side wall and a third strengthening portion. One end of the upper side wall is connected to the upper surface of the second support plate portion and the other end extends above the second support plate portion. The third strengthening portion connects the inner peripheral surface of the upper side wall and the upper surface of the second support plate portion.

[0027] In some embodiments, the support assembly further includes a fixing portion, and the fixing portion is connected to the lower surface of the support plate and / or the inner peripheral surface of the lower side wall;

[0028] The base has a third opening, and the third opening is located below the support plate;

[0029] The optical ranging device further includes a bottom cover, the bottom cover is fixedly connected to the fixing portion and covers the third opening, and the driving wheel is located in the space surrounded by the support plate, the lower side wall and the bottom cover.

[0030] In some embodiments, the support assembly includes a support plate and an upper side wall. The support plate supports the driving assembly in the vertical direction. One end of the upper side wall is connected to the support plate and the other end extends above the support plate. At least part of the driving assembly is located in the space surrounded by the support plate and the upper side wall.

[0031] In some embodiments, the optical ranging device further includes an upper cover;

[0032] The upper cover is connected to the optical machine assembly and covers the optical machine assembly;

[0033] Or,

[0034] The upper cover is fixedly connected to the base and covers the optical machine assembly and the driving assembly;

[0035] Or,

[0036] The upper cover is fixedly connected to the base. The base and the support assembly jointly define a fourth opening with an upward opening. At least part of the optical machine assembly can pass through the fourth opening and is located below the fourth opening. The upper cover covers the fourth opening and covers the optical machine assembly.

[0037] In some embodiments, the optical ranging device further includes an upper cover. The upper cover is fixedly connected to the base. The base and the support assembly jointly define an upward fourth opening. The upper cover is provided with an upper sealing portion. The base and / or the support assembly includes a lower sealing portion. The upper sealing portion is cooperatively connected to the lower sealing portion;

[0038] The lower sealing portion is arranged around the fourth opening, or the lower sealing portion is arranged around the fourth opening and the support assembly.

[0039] An embodiment of the second aspect of the present invention further provides a mobile robot, including the optical ranging device of any of the above embodiments.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] The optical ranging device of the present utility model includes a base, a support assembly, an optical machine assembly, and a driving assembly. The support assembly is disposed on the upper side of the base. The optical machine assembly is connected to the base and disposed on the upper side of the base. The optical machine assembly is used for emitting a light beam and receiving the light beam reflected by an external object. The driving assembly is supported by the support assembly and disposed on the upper side of the support assembly. The driving assembly is used for driving the optical machine assembly to rotate. Compared with the related art in which the motor module and the optical machine module are stacked up and down and the motor module supports the optical machine module, the optical machine assembly and the driving assembly of the present utility model are respectively located on the upper side of the base, and the driving assembly is supported by relying on the support assembly. Therefore, the optical ranging device of the present utility model has a smaller height and reduces the occupied height space. Description of the Drawings

[0042] 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 for use 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 be obtained based on the structures shown in these drawings.

[0043] Figure 1 It is a three-dimensional schematic diagram of the optical ranging device provided in the first embodiment of the present utility model;

[0044] Figure 2 It is Figure 1 a partial enlarged schematic diagram at A in

[0045] Figure 3 It is a top view schematic diagram of the optical ranging device provided in the first embodiment of the present utility model;

[0046] Figure 4 It is Figure 3 a sectional schematic diagram in the B-B direction in

[0047] Figure 5 It is a three-dimensional schematic diagram of the optical ranging device provided in the second embodiment of the present utility model;

[0048] Figure 6 It is a three-dimensional schematic diagram of the optical ranging device provided in the third embodiment of the present utility model;

[0049] Figure 7 It is a three-dimensional schematic diagram of the optical ranging device provided in the fourth embodiment of the present utility model;

[0050] Figure 8 It is a three-dimensional schematic diagram of the optical ranging device provided in the fifth embodiment of the present utility model;

[0051] Figure 9Schematic perspective view of the optical ranging device provided in the sixth embodiment of the present utility model;

[0052] Figure 10 It is Figure 4 Partial enlarged schematic view of the driven wheel connection structure at position C in

[0053] Figure 11 Partial enlarged schematic view of the driven wheel connection structure provided in the seventh embodiment of the present utility model;

[0054] Figure 12 Partial enlarged schematic view of the driven wheel connection structure provided in the eighth embodiment of the present utility model;

[0055] Figure 13 Schematic perspective view of the combination of the base and the support assembly provided in the first embodiment of the present utility model.

[0056] Explanation of the reference numerals in the drawings:

[0057] 100, optical ranging device;

[0058] 110, base; 111, third opening;

[0059] 120, optical engine assembly; 121, driven wheel;

[0060] 130, drive assembly;

[0061] 140, circuit assembly; 141, circuit board; 141A, first circuit board; 141B, second circuit board;

[0062] 150, transmission assembly; 151, driving wheel; 152, flexible transmission member;

[0063] 160, support assembly; 161, support plate; 1611, first opening; 1612, first support plate part;

[0064] 1613, second support plate part; 162, lower side wall; 1621, second opening; 1622, first lower side wall part; 1623, second lower side wall part; 163, upper side wall; 164, first reinforcing part; 165, second reinforcing part; 166, third reinforcing part; 167, fixing part;

[0065] 170, bottom cover;

[0066] 180, upper cover; 181, upper sealing part;

[0067] 190, fourth opening;

[0068] 200, lower sealing part;

[0069] 210. Support member; 211. Bearing; 212. Wire threading part;

[0070] 220A. First communication component; 220B. Second communication component;

[0071] 230A. Power supply component; 230B. Power receiving component;

[0072] 240. Second electrical connection line;

[0073] 250. Second electrical connection line fixing component;

[0074] 260. Second electrical connection line receiving groove.

[0075] The realization of the purpose, functional characteristics and advantages of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0076] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying 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 of 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.

[0077] 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 position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0078] In addition, if there are descriptions such as "first" and "second" involved in the embodiments of the present utility model, the descriptions of "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. 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 embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model.

[0079] See Figures 1-13, in the embodiment of the present utility model, an optical ranging device 100 is provided, which includes a base 110, a support assembly 160, an optomechanical assembly 120, and a driving assembly 130.

[0080] See Figures 1-4 , the support assembly 160 is disposed on the upper side of the base 110; in some embodiments, the base 110 may have a bottom for supporting each component, the base 110 may define an inner cavity located above the bottom, and the support assembly 160 may be connected to the bottom of the base 110 and at least partially located in the inner cavity of the base 110. Based on this, the support assembly 160 may be in any structural form suitable for supporting the driving assembly 130, such as a boss structure of any suitable shape, and corresponding to the component supported by the support assembly 160, the support assembly 160 may also have a corresponding connection structure (bolt hole, card slot, buckle, etc.) or a limiting structure (groove, protrusion, etc.). In addition, in some embodiments, the support assembly 160 and the base 110 may be integrally connected, for example, the two may be integrally formed; or in some other embodiments, the support assembly 160 and the base 110 may be detachably connected.

[0081] See Figures 1-4 , the optomechanical assembly 120 is connected to the base 110 and disposed on the upper side of the base 110. In some embodiments, the optomechanical assembly 120 may be connected to the bottom of the base 110 and located in the inner cavity of the base 110. The optomechanical assembly 120 is used to emit a light beam and receive the light beam reflected by an external object. Thus, the optomechanical assembly 120 can achieve ranging by the time required for the light beam emitted by it to be received again. At the same time, in addition to being used to measure the distance to an external obstacle, the optomechanical assembly 120 can also be used for obstacle recognition, modeling, or mapping of the surrounding environment. According to the above functions, in some embodiments, the optomechanical assembly 120 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, and a light receiver, etc.

[0082] See Figures 1-4 , the driving assembly 130 is supported by the support assembly 160 and disposed on the upper side of the support assembly 160. The driving assembly 130 is used to drive the optomechanical assembly 120 to rotate, so that the optomechanical assembly 120 can cover a larger ranging range through rotational scanning to achieve obstacle recognition, modeling, or mapping of the surrounding environment. The form in which the driving assembly 130 drives the optomechanical assembly 120 may be direct driving (the driving assembly 130 is directly connected to the optomechanical assembly 120), or indirect driving (the driving assembly 130 is indirectly connected to the optomechanical assembly 120 through other components). According to the above functions, in some embodiments, the driving assembly 130 may specifically include a motor, and the output end of the motor may be directly or indirectly connected to the optomechanical assembly 120.

[0083] Compared with the related art in which the motor module and the optical engine module are stacked up and down and the motor module supports the optical engine module, the optical engine assembly 120 and the drive assembly 130 of the present utility model are respectively located on the upper side of the base 110, and the drive assembly 130 is supported by the support assembly 160. Therefore, the optical ranging device 100 of the present utility model has a smaller height, reducing the occupied height space. Refer to Figures 3-4 , in some embodiments, the optical ranging device 100 further includes a circuit assembly 140, and the circuit assembly 140 is used for electrically connecting with the drive assembly 130 and / or the optical engine assembly 120. It can be understood that the circuit assembly 140 can be used to supply electrical energy to the drive assembly 130 or the optical engine assembly 120, and can also be used to receive or send electrical signals to the drive assembly 130 or the optical engine assembly 120. According to the above functions, in some embodiments, the circuit assembly 140 may specifically include a circuit board 141, a circuit board fixing member, an external wiring seat, a controller, etc.

[0084] For the specific form of the drive assembly 130 driving the optical engine to rotate, refer to Figures 1-4 , in some embodiments, the optical ranging device 100 further includes a transmission assembly 150. In order to prevent the support assembly 160 from obstructing the cooperation between the transmission assembly 150 and the drive assembly 130, the support assembly 160 may have a first opening 1611, and the drive end of the drive assembly 130 (when the drive assembly 130 is a motor, the drive end corresponds to the output shaft of the motor) penetrates downward along the vertical direction through the first opening 1611. The above setting can make the arrangement and connection between the transmission assembly 150 and the drive assembly 130 more convenient. The transmission assembly 150 may include a driving wheel 151, and the driving wheel 151 may be fixedly connected to the drive end of the drive assembly 130 and located below the first opening 1611. Thus, the driving wheel 151 can be in transmission connection with the optical engine assembly 120.

[0085] In some embodiments, the diameter of the driving wheel 151 can be smaller than the diameter of the first opening 1611. Such a setting is beneficial for heat dissipation around the driving wheel 151 and the driving end of the driving assembly 130 on one hand. On the other hand, it also makes the design of the supporting assembly 160 more lightweight, and enables the driving wheel 151 to be installed in a top-down manner, maintaining the same installation direction as the driving assembly 130. Thus, after the driving wheel 151 is fixed to the driving end of the driving assembly 130, the whole can be connected to the base 110, which is beneficial to improving the assembly efficiency. It should be noted that when the outer contour shape of the driving wheel 151 is irregular, the diameter of the driving wheel 151 is defined as the maximum diameter; when observing along the axis direction of the driving wheel 151, when the outer contour (or the first opening 1611) of the driving wheel 151 is not a uniform circle, the diameter of the driving wheel 151 (or the first opening 1611) is defined as: along the radial direction of the axis of the driving wheel 151 (or the first opening 1611), the maximum dimension of the figure enclosed by the cross-section of the driving wheel 151 (or the first opening 1611).

[0086] For the specific setting of the supporting assembly 160, refer to Figure 2 , in some embodiments, the supporting assembly 160 includes a support plate 161 and a lower side wall 162. The support plate 161 supports the driving assembly 130 in the vertical direction, and one end of the lower side wall 162 is connected to the support plate 161 and the other end is connected to the upper surface of the base 110. It can be understood that the support plate 161 is the part for supporting the driving assembly 130 in the vertical direction, and the lower side wall 162 is the part for connecting the support plate 161 and the base 110, and the support plate 161 and the lower side wall 162 can have any suitable structural shapes. In addition, the support plate 161 and the lower side wall 162 (or any component part of the supporting assembly 160) can be integrally connected or detachably connected.

[0087] Refer to Figure 2, in some embodiments, the first opening 1611 may be provided on the support plate 161. In addition, the lower sidewall 162 may further have a second opening 1621. The optical ranging device 100 further includes a transmission assembly 150. The transmission assembly 150 includes a driving wheel 151 and a flexible transmission member 152. The driving end of the driving assembly 130 may pass through the first opening 1611 in the vertical direction. The driving wheel 151 is fixedly connected to the driving end of the driving assembly 130 and is located below the first opening 1611. The driving wheel 151 and the optical machine assembly 120 are drivingly connected through the flexible transmission member 152 so that the driving assembly 130 can drive the optical machine assembly 120 to rotate. In order not to hinder the connection between the transmission member and the driving wheel 151 and the optical machine assembly 120, the flexible transmission member 152 passes through the second opening 1621. It should be noted that flexible transmission is a common mechanical transmission, usually composed of two or more driving wheels and an intermediate flexible transmission member 152, and the motion and power are transmitted between the driving wheels through the flexible transmission member 152; flexible transmission mainly includes belt transmission, chain transmission and rope transmission, etc. Correspondingly, the driving wheels are respectively pulley, sprocket and rope wheel, etc., and the flexible transmission members 152 are respectively transmission belt, transmission chain and transmission rope, etc. That is to say, when installing the flexible transmission member 152, the installation is realized by using the flexible structural characteristics of the flexible transmission member 152 to pass through the second opening 1621, making the arrangement and connection between the transmission assembly 150 and the driving assembly 130, and between the transmission assembly 150 and the optical machine assembly 120 more convenient.

[0088] More specifically, referring to Figure 2 and Figure 4 , in some embodiments, the optical machine assembly 120 includes a driven wheel 121. The driving wheel 151 of the transmission assembly 150 is connected to the driving end of the driving assembly 130. The driving wheel 151 and the driven wheel 121 are drivingly connected through the flexible transmission member 152. In some embodiments, the flexible transmission member 152 may be a transmission belt or a transmission chain or a transmission rope wound around the driving wheel 151 and the driven wheel 121, so that the driving assembly 130 can transmit the driving force to the driving wheel 151, and the driving wheel 151 transmits the driving force to the driven wheel 121 through the flexible transmission member 152, thereby causing the overall rotation of the optical machine assembly 120. In some other embodiments, the driving wheel 151, the driven wheel 121 and the flexible transmission member 152 in the transmission assembly 150 may all be replaced with gears, that is, a rigid transmission is used instead.

[0089] In some embodiments, the transmission assembly 150 is disposed on the upper side of the base 110, and at least a part of the optical engine assembly 120 and at least a part of the drive assembly 130 are both disposed on the upper side of the transmission assembly 150. At least a part of the circuit assembly 140 is located vertically between the upper side of the base 110 and the lower side of the transmission assembly 150. With the above arrangement, the spaces on both the upper and lower sides of the transmission assembly 150 can be fully utilized, and it is beneficial to avoid interference between the circuit assembly 140 and other components. It should be noted that, in some embodiments, a part of the optical engine assembly 120 (i.e., the driven wheel 121) can be connected to the transmission assembly 150, and the other part is located on the upper side of the transmission assembly 150. Specifically, when the transmission assembly 150 includes a transmission belt, a part of the optical engine assembly 120 (i.e., the driven wheel 121) can be wound by the transmission belt, and the other part is located on the upper side of the transmission assembly 150.

[0090] See Figures 1-3 , in some embodiments, the first opening 1611 and the second opening 1621 are communicated. Such an arrangement can realize the plug-in installation of the flexible transmission member 152 from top to bottom, and keep the same installation direction as other components on the base 110 such as the optical engine assembly 120 and the drive assembly 130. Moreover, there is no need for lateral insertion installation, which is beneficial to improving the installation efficiency.

[0091] See Figure 2 , in some embodiments, the support plate 161 includes two parts of plate bodies, that is, it includes a first support plate portion 1612 and a second support plate portion 1613 that are arranged at intervals along the direction around the first opening 1611; correspondingly, the lower side wall 162 includes a first lower side wall portion 1622 and a second lower side wall portion 1623 that are arranged at intervals along the direction around the first opening 1611. Among them, the first support plate portion 1612 and the second support plate portion 1613 can be respectively connected to the first lower side wall portion 1622 and the second lower side wall portion 1623.

[0092] Due to the above-mentioned separately arranged support plate 161 and lower side wall 162, the number of the second openings 1621 also corresponds to two. See Figure 2, in some embodiments, along the direction surrounding the first opening 1611, a second opening 1621 may be located between one end of the first lower side wall portion 1622 and one end of the second lower side wall portion 1623, and communicate with the first opening 1611 through the interval between one end of the first support plate portion 1612 and one end of the second support plate portion 1613. Similar to the first second opening 1621, along the direction surrounding the first opening 1611, another second opening 1621 may be located between the other end of the first lower side wall portion 1622 and the other end of the second lower side wall portion 1623, and communicate with the first opening 1611 through the interval between the other end of the first support plate portion 1612 and the other end of the second support plate portion 1613. For the second opening 1621 arranged as described above, in other words, along the direction surrounding the first opening 1611, the first lower side wall portion 1622 has opposite ends, and the second lower side wall portion 1623 is located between the two ends of the first lower side wall portion 1622. Corresponding to the two ends of the first lower side wall portion 1622, one end of the second lower side wall portion 1623 on one side and one end of the first lower side wall portion 1622 on this side together form a second opening 1621 through an interval, and one end of the second lower side wall portion 1623 on the other side and one end of the first lower side wall portion 1622 on this side together form another second opening 1621 through an interval. Thus, the two second openings 1621 are separated by the second lower side wall portion 1623, and both are formed by the interval between one end of the first lower side wall portion 1622 and one end of the second lower side wall portion 1623. Based on the two second openings 1621 defined by the above embodiments, a part of the flexible transmission member 152 may pass through one second opening 1621, and a part of the flexible transmission member 152 may pass through the other second opening 1621. By providing the two second openings 1621, the second support plate portion 1613 and the second lower side wall portion 1623, the total width of all the second openings 1621 is minimized, that is, the total perimeter of the support plate 161 (the sum of the perimeters of the first support plate portion 1612 and the second support plate portion 1613) is maximized based on the communicatively arranged first opening 1611 and second openings 1621, thereby ensuring the support reliability of the overall support plate 161 for the drive assembly 130.

[0093] In addition to the second opening 1621 in the above form, refer to Figure 5, in some other embodiments, the space between the first opening 1611 and the second opening 1621 may also be partitioned by a part of the support plate 161 and / or a part of the lower sidewall 162. Specifically, the space between the first opening 1611 and the second opening 1621 may be partitioned by a part of the lower sidewall 162 in the vertical direction, and the space between the first opening 1611 and the second opening 1621 may be partitioned by a part of the support plate 161 in the horizontal direction. When installing the flexible transmission member 152, the flexible transmission member 152 is laterally inserted from one side of the lower sidewall 162 to the other side of the lower sidewall 162 through the second opening, and is respectively in driving connection with the optical machine assembly 120 located on one side of the lower sidewall 162 and the driving wheel 151 located on the other side of the lower sidewall 162. Such a setting can ensure the circumferential integrity of the support plate 161 and improve the support reliability of the support plate 161 for the driving assembly 130.

[0094] See Figure 2 , in some embodiments, the support assembly 160 further includes a first strengthening portion 164, and the first strengthening portion 164 connects the outer peripheral surface of the second lower sidewall portion 1623 and the upper surface of the base 110. See Figure 2 , in some embodiments, the support assembly 160 further includes a second strengthening portion 165, and the second strengthening portion 165 connects the inner peripheral surface of the second lower sidewall portion 1623 and the lower surface of the second support plate portion 1613. See Figure 2 , in some embodiments, the support assembly 160 further includes an upper sidewall 163 and a third strengthening portion 166. One end of the upper sidewall 163 is connected to the upper surface of the second support plate portion 1613 and the other end extends above the second support plate portion 1613, and the driving assembly 130 may be at least partially located in the space surrounded by the support plate 161 and the upper sidewall 163. Since the second support plate portion 1613 supports the driving assembly 130 upward, the upwardly extending upper sidewall 163 can be used to install the driving assembly 130 and limit the displacement of the driving assembly 130. The third strengthening portion 166 connects the inner peripheral surface of the upper sidewall 163 and the upper surface of the second support plate portion 1613.

[0095] It can be understood that the second support plate portion 1613 and the second lower side wall portion 1623 are located between two second openings 1621, that is, between two portions of the flexible transmission member 152 corresponding to the two second openings 1621, and have only a relatively small width. Therefore, based on the support requirements for the drive assembly 130, any one, or any combination of two, or all three of the above-mentioned first reinforcing portion 164, second reinforcing portion 165, and third reinforcing portion 166 can be provided on the support assembly 160 to strengthen the second support plate portion 1613 and / or the second lower side wall portion 1623, so as to avoid the problem of insufficient support strength that may exist in the second support plate portion 1613 and the second lower side wall portion 1623 with a relatively small width. The first reinforcing portion 164, the second reinforcing portion 165, and the third reinforcing portion 166 can all be set into any suitable structural shape, such as a strip shape, a triangular shape, etc.

[0096] See Figure 4 and Figure 13 , in some embodiments, the base 110 has a third opening 111, and the third opening 111 is located below the support plate 161. The third opening 111 can specifically be opened at the bottom of the base 110 connecting the support assembly 160 and the optical engine assembly 120. And according to requirements, the third opening 111 can have various uses. For example, the third opening 111 can extend into and install various other components (specifically, it can be a flexible transmission member 152, a connecting member between the driving wheel 151, the drive assembly 130, and the support assembly 160, etc.). Corresponding to the setting of the third opening 111, the support assembly 160 further includes a fixing portion 167, and the fixing portion 167 connects the lower surface of the support plate 161 and / or the inner peripheral surface of the lower side wall 162. In order to close the third opening 111, the optical ranging device 100 further includes a bottom cover 170, and the bottom cover 170 is fixedly connected to the fixing portion 167 and covers the third opening 111. To facilitate the installation of the driving wheel 151 more conveniently, the driving wheel 151 can be located in the space surrounded by the support plate 161, the lower side wall 162, and the bottom cover 170. Among them, the bottom cover 170 and the fixing portion 167 can be specifically connected by a fixing connection method such as a bolt connection or a snap connection. Thus, on the one hand, the fixing portion 167 can serve as a connection structure connecting the bottom cover 170 and the base 110; on the other hand, when the fixing portion 167 connects both the lower surface of the support plate 161 and the inner peripheral surface of the lower side wall 162 at the same time, the fixing portion 167 can also act like a reinforcing rib, thereby improving the structural strength of the support plate 161.

[0097] See Figure 2, in some embodiments, the support assembly 160 further includes a support plate 161 and an upper sidewall 163. The support plate 161 supports the drive assembly 130 in the vertical direction. One end of the upper sidewall 163 is connected to the support plate 161 and the other end extends above the support plate 161, and the drive assembly 130 can be at least partially located in the space surrounded by the support plate 161 and the upper sidewall 163. Since the support plate 161 supports the drive assembly 130 upward, the upwardly extending upper sidewall 163 can be used to mount the drive assembly 130 and limit the displacement of the drive assembly 130.

[0098] See Figures 3-4 , for a more specific arrangement of the circuit assembly 140, in some embodiments, the circuit assembly 140 includes a circuit board 141. The circuit assembly 140 further includes at least one of a circuit board fixing member, an external wiring socket, and a controller. Among them, the circuit board fixing member is used to fix the circuit board 141 on the base 110, the external wiring socket is used to electrically connect the optical machine assembly 120 or the drive assembly 130 to the circuit board 141, and the controller is used to control the power output of the drive assembly 130 and / or the beam output of the optical machine assembly 120. Based on the above composition of the circuit assembly 140, in some embodiments, at least one of the circuit board fixing member, the external wiring socket, and the controller can be disposed above the circuit board 141, and is located outside the facing space between the base 110 and the flexible transmission member 152 in the vertical direction, and is spaced apart from the flexible transmission member 152. That is to say, when observed in the vertical direction, at least one of the circuit board fixing member, the external wiring socket, and the controller does not overlap with the flexible transmission member 152 (or, at least one of the circuit board fixing member, the external wiring socket, and the controller is horizontally spaced apart from the flexible transmission member 152). The above arrangement enables other electrical components of the circuit assembly 140 except the circuit board 141 (especially electrical components with relatively large heights such as the circuit board fixing member, the external wiring socket, and the controller) to effectively avoid the flexible transmission member 152, and prevent the flexible transmission member 152 from interfering with other electrical components of the circuit assembly 140 except the circuit board 141 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 assembly 120. 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.

[0099] See Figure 4, in some embodiments, in the vertical direction, the height of the lowest point of the transmission assembly 150 is greater than or equal to the height of the upper surface of the circuit board 141. This setting can prevent the transmission assembly 150 from interfering with the circuit board 141 due to its own movement or vibration. Or in some other embodiments, the height of the lowest point of the transmission assembly 150 is less than the height of the upper surface of the circuit board 141, that is to say, there is a partially overlapping part in height between the transmission assembly 150 and the circuit board 141. This setting can make greater use of the height space and make the layout of the transmission assembly 150 and the circuit board 141 more compact in the height direction. In some embodiments, to prevent the transmission assembly 150 from interfering with the circuit board 141, the circuit board 141 may have an opening, and the overlapping part in height between the circuit board 141 and the transmission assembly 150 may pass through the opening of the circuit board 141. Thus, the circuit board 141 can avoid the transmission assembly 150 only through the opening without having to completely avoid the transmission assembly 150 in the horizontal direction; in some other embodiments, to prevent the transmission assembly 150 from interfering with the circuit board 141, the circuit board 141 may also have a recess, that is, the circuit board 141 may only form a recess without forming a complete round hole, and the overlapping part in height between the circuit board 141 and the transmission assembly 150 may pass through the recess of the circuit board 141. Thus, the circuit board 141 can avoid the transmission assembly 150 only through the recess without having to completely avoid the transmission assembly 150 in the horizontal direction.

[0100] In some embodiments, the circuit assembly 140 includes a circuit board 141 and a first external wiring seat, and the drive assembly 130 includes a motor and a first electrical connection line. Among them, the first electrical connection line can be understood as a wire for electrical connection, the first external wiring seat can be understood as a wiring socket for electrically connecting the first electrical connection line to the circuit board 141, and the connection between the first external wiring seat and the first electrical connection line can be an integral connection, a fixed connection, or a detachable connection. Thus, the motor can be electrically connected to the circuit board 141 through the first electrical connection line and the first external wiring seat in sequence.

[0101] Based on the above configuration of the circuit assembly 140, in some embodiments, the optical ranging device 100 further includes at least one first electrical connection line fixing member. The first electrical connection line fixing member can fix the middle part of the first electrical connection line on the motor, or the circuit board 141, or the base 110, so that the first electrical connection line is spaced from the transmission assembly 150. It can be understood that the first electrical connection line fixing member is used to fix the relative position between the first electrical connection line and the motor (or the circuit board 141 or the base 110), and can prevent the first electrical connection line from contacting the transmission assembly 150. According to the above functions, in some embodiments, the first electrical connection line fixing member can specifically be one of a tape, a wire buckle, and a hook.

[0102] Based on the setting of the connection between the driven wheel 121 and the optical machine assembly 120 in the foregoing embodiments, refer toFigure 4 , in some embodiments, a support member 210 is provided on the upper surface of the base 110, and the driven wheel 121 is rotatably supported on the support member 210. It can be understood that the support member 210 is used to support the driven wheel 121, and while supporting the driven wheel 121, the driven wheel 121 can rotate relative to the support member 210. Thus, the support member 210 may include a bearing 211, and further, the driven wheel 121 can be rotatably sleeved on the outer ring of the bearing 211 or fitted to the inner ring of the bearing 211. Based on the above support member 210, in some embodiments, the upper surface of the base 110, the lower surface of the optical machine assembly 120, and the radially inner side surface of the support member 210 can jointly define an accommodation space. This accommodation space can be used to accommodate communication components or electrical connection components.

[0103] Specifically, referring to Figures 10-12 , in some embodiments, the optical ranging device 100 may further include a first communication component 220A and a second communication component 220B. The first communication component 220A and the second communication component 220B can be wirelessly communicatively connected. The first communication component 220A is electrically connected to the optical machine assembly 120, and the second communication component 220B is electrically connected to the circuit assembly 140. Considering the relative positions of the optical machine assembly 120 and the circuit assembly 140, the first communication component 220A and the second communication component 220B can be relatively spaced apart in the vertical direction and transmit signals. It can be understood that the first communication component 220A and the second communication component 220B are used for the communication signal transmission between the optical machine assembly 120 and the circuit assembly 140. The communication signals can specifically be the detection information of the optical machine assembly 120 and the status information of the optical machine assembly 120 itself. The first communication component 220A and the second communication component 220B can both be located in the accommodation space. Thus, the internal space of the support member 210 can be fully utilized to arrange the communication components, which is beneficial to reducing the height of the optical ranging device 100.

[0104] In some other embodiments, referring to Figure 11 , the optical ranging device 100 further includes a power supply component 230A and a power receiving component 230B. The power supply component 230A and the power receiving component 230B can perform wireless power transmission. The power supply component 230A is electrically connected to the circuit assembly 140, and the power receiving component 230B is electrically connected to the optical machine assembly 120. The power supply component 230A and the power receiving component 230B are both located in the accommodation space. It can be understood that the settings of the power supply component 230A and the power receiving component 230B in this type of embodiment are similar to the settings of the first communication component 220A and the second communication component 220B in the previous type of embodiment. The difference is that the functions of the power supply component 230A and the power receiving component 230B are to provide electrical energy and receive electrical energy respectively. Other related settings can refer to the previous type of embodiment and will not be elaborated here.

[0105] Based on the settings of the second communication component 220B or the power receiving component 230B in the above embodiments, refer to Figure 10 or Figure 11 or Figure 12 , in some embodiments, the optical distance measuring device 100 further includes a second electrical connection line 240. The second communication component 220B or the power receiving component 230B can be electrically connected to the circuit component 140 through the second electrical connection line 240. Based on this, refer to Figure 10 , in some embodiments, the support member 210 is provided with a wire threading portion 212. The second electrical connection line 240 passes through the wire threading portion 212 and is located between the lower end portion of the driven wheel 121 and the upper surface of the base 110 in the vertical direction. At least a part of the second electrical connection line 240 is located above or below the circuit component 140. It can be understood that the wire threading portion 212 is used for the second electrical connection line 240 to pass out from the inside (i.e., the accommodation space) of the support member 210 to the outside, so as to facilitate the connection of the circuit component 140. Thus, the wire threading portion 212 can be an opening or a groove opened in the support member 210, and the opening can be in any suitable shape.

[0106] For the position setting of the second electrical connection line 240, refer to Figure 11 , in some embodiments, at least a part of the second electrical connection line 240 is located above the circuit component 140. The optical distance measuring device 100 further includes at least one second electrical connection line fixing member 250. The second electrical connection line fixing member 250 fixes the part of the second electrical connection line 240 directly below the lower end portion of the driven wheel 121 on the upper surface of the base 110 to avoid the lower end portion of the driven wheel 121. It can be understood that a part of the second electrical connection line 240 can be located above the circuit component 140 to facilitate the connection of the circuit component 140; and the other part is fixed to the upper surface of the base 110 by the second electrical connection line fixing member 250 to facilitate avoiding the driven wheel 121 and prevent interference.

[0107] To make the effect of the second electrical connection line 240 avoiding the driven wheel 121 better, refer to Figure 12 , in some other embodiments, at least a part of the second electrical connection line 240 is located below the circuit component 140. At least one of the upper surface of the base 110 and the lower surface of the circuit component 140 is provided with a second electrical connection line accommodation groove 260. At least a part of the second electrical connection line 240 is arranged in the second electrical connection line accommodation groove 260. It can be understood that the second electrical connection line accommodation groove 260 is used to accommodate the second electrical connection line 240. Using the groove to accommodate the second electrical connection line 240 can avoid the second electrical connection line 240 occupying extra height space, and the setting of the groove can facilitate setting the second electrical connection line 240 below the circuit component 140 to ensure that the second electrical connection line 240 does not interfere with the driven wheel 121.

[0108] Based on the second communication component 220B or the power receiving component 230B of the above embodiments, further settings can be made for the circuit component 140. Refer to Figure 10 , in some embodiments, the circuit component 140 includes a circuit board 141, and the circuit board 141 includes a first circuit board 141A and a second circuit board 141B. At least part of the first circuit board 141A is located horizontally between the optical machine component 120 and the driving component 130, and the second circuit board 141B is located in the accommodation space and is provided with the second communication component 220B or the power receiving component 230B. Correspondingly, the second communication component 220B or the power receiving component 230B is electrically connected to the first circuit board 141A through the second electrical connection line 240. It can be understood that the second circuit board 141B is a part of the circuit board provided inside the support member 210 to electrically connect the second communication component 220B (or the power receiving component 230B), and the first circuit board 141A is a circuit board located outside the support member 210. Thus, in some embodiments, the first circuit board 141A and the second circuit board 141B are separately arranged; in other embodiments, the first circuit board 141A and the second circuit board 141B are fixedly connected or integrally connected, and the connection part between the first circuit board 141A and the second circuit board 141B passes through the wire threading part 212. It can be understood that the above two aspects of embodiments are both to enable the first circuit board 141A and the second circuit board 141B to avoid the support member 210, so as to avoid occupying additional height space.

[0109] Refer to Figures 6-9 , in some embodiments, the optical ranging device 100 further includes an upper cover 180. Refer to Figure 7 , in some embodiments, the upper cover 180 is connected to the optical machine component 120 and covers the optical machine component 120. At this time, the upper cover 180 can only be used to cover the optical machine component 120, so that the structure of the upper cover 180 is simpler, and it has a targeted internal structure protection and anti-natural light interference effect on the optical machine component 120.

[0110] Refer to Figure 6 , in other embodiments, the upper cover 180 is fixedly connected to the base 110 and covers the optical machine component 120 and the driving component 130. At this time, the upper cover 180 can be used to cover each component (optical machine component 120, driving component 130, circuit component 140, transmission component 150) arranged on the base 110 at the same time, with a large coverage range, and has a good internal structure protection and dust and water protection effect.

[0111] Refer to Figure 8 or Figure 9, in some other embodiments, the upper cover 180 can be fixedly connected to the base 110. The base 110 and the support assembly 160 jointly define a fourth opening 190 with an upward opening. At least a part of the optical engine assembly 120 can pass through the fourth opening 190 and be located below the fourth opening 190. The upper cover 180 covers the fourth opening 190 and covers the optical engine assembly 120 from above. It can be understood that the fourth opening 190 is jointly defined by one side edge of the base 110 and one side edge of the support assembly 160. Thus, the setting that the upper cover 180 covers the fourth opening 190 can enable the upper cover 180 not to cover the drive assembly 130. This setting is beneficial to reducing the occupied space of the upper cover 180, and the structure of the support assembly 160 can be used to fix or seal the upper cover 180.

[0112] Based on the upper cover 180 and the fourth opening 190 defined in the above embodiments, in order to seal the fourth opening 190, refer to Figure 5 and Figure 8 , Figure 9 , in some embodiments, the upper cover 180 is provided with an upper sealing portion 181, and the base 110 and / or the support assembly 160 includes a lower sealing portion 200. The upper sealing portion 181 is cooperatively connected with the lower sealing portion 200. More specifically, the form of the cooperative connection between the upper sealing portion 181 and the lower sealing portion 200 can be determined according to the structural forms of the two. Exemplarily, in some embodiments, one of the upper sealing portion 181 and the lower sealing portion 200 can be a sealing strip (or can also be a sealing ring or sealant), and the other can be a sealing groove. Thus, when the sealing strip extends into the sealing groove and abuts against the groove surface of the sealing groove, the cooperative connection between the upper sealing portion 181 and the lower sealing portion 200 is formed.

[0113] In order to achieve a better sealing effect on the fourth opening 190, refer to Figure 5 and Figure 9 , in some embodiments, the lower sealing portion 200 can be arranged around the fourth opening 190. By arranging the sealing portion around the fourth opening 190, a good sealing effect on the fourth opening 190 can be ensured. Or, refer to Figure 5 and Figure 8 , in some other embodiments, the lower sealing portion 200 is arranged around the fourth opening 190 and the support assembly 160. By arranging the sealing portion around the fourth opening 190 and the support assembly 160 at the same time, while the sealing portion seals the fourth opening 190 by surrounding the fourth opening 190, the sealing connection of the sealing portion is more stable and the sealing coverage range is larger by surrounding the support assembly 160. Especially when the upper cover 180 is provided with an opening for passing through the drive assembly 130, and the edge of the opening needs to be cooperatively connected with the base 110, the sealing portion surrounding the support assembly 160 can also seal the edge of the opening of the hole, making the sealing effect better.

[0114] An embodiment of the second aspect of the present utility model further provides a mobile robot, which includes the optical ranging device 100 of any of the above embodiments.

[0115] Benefiting from the improvements to the optical ranging device 100 in the above embodiments, the mobile robot in the embodiment of the second aspect of the present utility model has the same technical effects as the optical ranging device 100 in the above embodiments. Details are not described herein again.

[0116] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present utility model under the application concept of the present utility model, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present utility model.

Claims

1. An optical ranging device, characterized in that, Comprising: A base; A support assembly, disposed on the upper side of the base; An optical engine assembly, connected to the base and disposed on the upper side of the base, the optical engine assembly being configured to emit a light beam and receive the light beam reflected by an external object; A driving assembly, supported by the support assembly and disposed on the upper side of the support assembly, the driving assembly being configured to drive the optical engine assembly to rotate.

2. The optical ranging device according to claim 1, wherein The support assembly has a first opening, and a driving end of the driving assembly penetrates downward in the vertical direction through the first opening; The optical ranging device further includes a transmission assembly, the transmission assembly includes a driving wheel, the driving wheel is fixedly connected to the driving end of the driving assembly and is located below the first opening, the driving wheel is in transmission connection with the optical engine assembly, and the diameter of the driving wheel is smaller than the diameter of the first opening.

3. The optical ranging device according to claim 1, wherein The support assembly includes a support plate and a lower side wall, the support plate supports the driving assembly in the vertical direction, one end of the lower side wall is connected to the support plate and the other end is connected to the upper surface of the base, the support plate has a first opening, and the lower side wall has a second opening; The optical ranging device further includes a transmission assembly, the transmission assembly includes a driving wheel and a flexible transmission member, the driving end of the driving assembly penetrates through the first opening in the vertical direction, the driving wheel is fixedly connected to the driving end of the driving assembly and is located below the first opening, and the driving wheel and the optical engine assembly are in transmission connection through the flexible transmission member so that the driving assembly can drive the optical engine assembly to rotate; the flexible transmission member penetrates through the second opening.

4. The optical ranging device according to claim 3, wherein A part of the support plate and / or a part of the lower side wall separates the first opening and the second opening; Or, The first opening communicates with the second opening.

5. The optical ranging device according to claim 4, wherein The support plate includes a first support plate portion and a second support plate portion arranged at intervals along the direction surrounding the first opening, and the lower side wall includes a first lower side wall portion and a second lower side wall portion arranged at intervals along the direction surrounding the first opening; The number of the second openings is two; Along the direction surrounding the first opening, one of the second openings is located between one end of the first lower side wall portion and one end of the second lower side wall portion, and communicates with the first opening through an interval between one end of the first support plate portion and one end of the second support plate portion; Along the direction surrounding the first opening, the other second opening is located between the other end of the first lower side wall portion and the other end of the second lower side wall portion, and communicates with the first opening through an interval between the other end of the first support plate portion and the other end of the second support plate portion; A part of the flexible transmission member penetrates through one of the second openings, and a part of the flexible transmission member penetrates through the other second opening.

6. The optical distance measuring device according to claim 5, wherein the support assembly further includes a first reinforcing portion; the first reinforcing portion connects the outer peripheral surface of the second lower side wall portion and the upper surface of the base, and / or, the support assembly further includes a second reinforcing portion; the second reinforcing portion connects the inner peripheral surface of the second lower side wall portion and the lower surface of the second support plate portion, and / or, the support assembly further includes an upper side wall and a third reinforcing portion, one end of the upper side wall is connected to the upper surface of the second support plate portion and the other end extends above the second support plate portion, and the third reinforcing portion connects the inner peripheral surface of the upper side wall and the upper surface of the second support plate portion.

7. The optical distance measuring device according to claim 3, wherein the support assembly further includes a fixing portion, and the fixing portion connects the lower surface of the support plate and / or the inner peripheral surface of the lower side wall; the base has a third opening, and the third opening is located below the support plate; the optical distance measuring device further includes a bottom cover, the bottom cover is fixedly connected to the fixing portion and covers the third opening, and the driving wheel is located in the space surrounded by the support plate, the lower side wall and the bottom cover.

8. The optical distance measuring device according to claim 1, wherein the support assembly includes a support plate and an upper side wall, the support plate supports the driving assembly in the vertical direction, one end of the upper side wall is connected to the support plate and the other end extends above the support plate, and at least part of the driving assembly is located in the space surrounded by the support plate and the upper side wall.

9. The optical distance measuring device according to claim 1, wherein The optical distance measuring device further includes an upper cover; the upper cover is connected to the optical machine assembly and covers the optical machine assembly, or, the upper cover is fixedly connected to the base and covers the optical machine assembly and the driving assembly, or, the upper cover is fixedly connected to the base, the base and the support assembly jointly define a fourth opening facing upward, at least part of the optical machine assembly can pass through the fourth opening and is located below the fourth opening, and the upper cover covers the fourth opening and covers the optical machine assembly.

10. The optical distance measuring device according to claim 1, wherein the optical distance measuring device further includes an upper cover, the upper cover is fixedly connected to the base, the base and the support assembly jointly define an upward fourth opening, the upper cover is provided with an upper sealing portion, and the base and / or the support assembly includes a lower sealing portion, and the upper sealing portion is cooperatively connected with the lower sealing portion; the lower sealing portion is disposed around the fourth opening, or the lower sealing portion is disposed around the fourth opening and the support assembly.

11. Mobile robot, characterized in that, Including: the optical distance measuring device according to any one of claims 1-10.

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