Optical distance measuring device and mobile robot

Abstract

The utility model discloses an optical distance measuring device and a mobile robot. The optical distance measuring device comprises a transmitter, a transmitting cylinder, a transmitting lens, a first circuit board and a receiving lens. The emitter is used for emitting light beams; a channel allowing light beams to be emitted out is formed in the launching cylinder. The transmitting lens is fixed on the transmitting cylinder and is arranged corresponding to the channel; the emitter and the emission cylinder are fixedly arranged on the first circuit board; the receiving lens is provided with a through hole, the transmitting cylinder is arranged in the through hole, and the transmitting cylinder and the through hole are arranged at an interval or in clearance fit. According to the optical distance measuring device and the mobile robot, the difficulty of assembly and debugging can be reduced.

Description

Technical Field

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

[0002] In the related art, an optical ranging device includes a transmitter for emitting a light beam, a transmitting lens for collimating the light beam, a receiving lens for receiving the light beam reflected by an external object and focusing it, and a receiver for receiving the focused light beam. In some specific related arts, the transmitting lens is fixed to a lens barrel, and the lens barrel is fixed inside a through hole of the receiving lens. Such an optical ranging device often has difficulty in ensuring the accuracy of the transmitting optical path, or has high requirements for assembly and debugging in order to ensure the accuracy of the transmitting optical path. Summary of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides an optical ranging device and a mobile robot, which can improve the accuracy of the transmitting optical path and reduce the difficulty of assembly and debugging.

[0004] The utility model also provides an optical ranging device, comprising:

[0005] a transmitter for emitting a light beam;

[0006] a transmitting barrel having a channel allowing the light beam to emit;

[0007] a transmitting lens fixed to the transmitting barrel and correspondingly arranged with the channel;

[0008] a first circuit board, on which the transmitter and the transmitting barrel are both fixedly arranged; and

[0009] a receiving lens having a through hole, the transmitting barrel is arranged in the through hole, and the transmitting barrel is arranged at an interval or in clearance fit with the through hole.

[0010] In some embodiments, an adhesive is provided at the connection between the transmitting barrel and the first circuit board, and the adhesive cooperates with the first circuit board to shield and seal one end of the channel close to the first circuit board.

[0011] In some embodiments, the transmitter is located in the channel and at the focal point of the transmitting lens.

[0012] In some embodiments, the optical distance measuring device further includes a second circuit board. There is a spacer region between the first circuit board and the second circuit board. Along the axial direction of the through hole, the orthographic projection of the second circuit board surrounds the orthographic projection of the receiving lens, and at least part of the orthographic projection of the receiving lens coincides with the orthographic projection of the spacer region.

[0013] In some embodiments, the optical distance measuring device further includes a base, a rotating base, and an upper reflector. The upper reflector is configured to reflect the light beam emitted from the channel. Relative to the rotation axis of the rotating base, the upper reflector is inclinedly disposed on the rotating base and is driven to rotate by the rotating base.

[0014] At least part of the base is located on the side of the first circuit board away from the emission cylinder. The base has a support protruding towards the first circuit board. The rotating base is rotatably disposed on the part of the support extending out of the spacer region. Wherein, the support extends out of the spacer region and the support surrounds the receiving lens.

[0015] In some embodiments, a circuit board connection part is provided between the first circuit board and the second circuit board. The first circuit board and the second circuit board are electrically connected through the circuit board connection part.

[0016] The first circuit board, the circuit board connection part, and the second circuit board are integrally formed, or the circuit board connection part is a flexible circuit board or a wire.

[0017] In some embodiments, the optical distance measuring device further includes a base.

[0018] The receiving lens is fixedly connected to the second circuit board, and the receiving lens or the second circuit board is fixed to the base; or,

[0019] The receiving lens and the first circuit board are respectively fixed to the base.

[0020] In some embodiments, the receiving lens has a first mounting groove. The first mounting groove extends from the through hole radially to the outside of the receiving lens along the radial direction of the through hole. The first mounting groove is spaced apart from or in clearance fit with the circuit board connection part.

[0021] In some embodiments, the receiving lens has a light incident side and a light exit side. The first mounting groove has an opening facing the light incident side of the receiving lens or has an opening facing the light exit side of the receiving lens.

[0022] In some embodiments, along the axial direction of the through hole, at least part of the first circuit board extends into the through hole and is spaced apart from or in clearance fit with the side wall of the through hole.

[0023] In some embodiments, the optical ranging device further includes a lower reflector and a receiver, and the lower reflector is configured to reflect the light beam passing through the receiving lens to the receiver;

[0024] The receiving lens has a light incident side and a light exiting side; a protruding skirt is connected to one end of the receiving lens facing the light exiting side, and along the axial direction of the through hole, the orthographic projection of the skirt surrounds the orthographic projection of the through hole, and the lower reflector is mounted on the skirt; wherein, the skirt is integrally formed with or fixedly connected to the receiving lens;

[0025] The receiver is disposed on a side of the first circuit board facing away from the emission cylinder and is disposed opposite to the lower reflector.

[0026] In some embodiments, the optical axis of the receiving lens is coaxially arranged with the axial direction of the through hole.

[0027] In some embodiments, the axial direction of the channel is coaxially arranged with the axial direction of the emission cylinder.

[0028] In some embodiments, the axial direction of the emission cylinder is coaxially arranged with the optical axis of the emission lens.

[0029] In some embodiments, the optical axis of the emission lens is coaxially arranged with the optical axis of the receiving lens.

[0030] The present application further provides a mobile robot, including an optical ranging device.

[0031] The optical ranging device and the mobile robot according to the embodiments of the present utility model at least have the following beneficial effects: By fixedly arranging both the emitter and the emission cylinder on the first circuit board, the emitter and the emission cylinder have the same installation reference. The emission cylinder is arranged at an interval or in a clearance fit with the through hole, eliminating the influence of the receiving lens on the installation position of the emission cylinder. Compared with the solutions in the related art, the optical ranging device of the solution of the present application eliminates the influence of the installation tolerance between the receiving lens and the emission cylinder, the dimensional tolerance of the receiving lens itself, and the position tolerance between the receiving lens and the emitter on the emission optical path, greatly reducing the difficulty of assembly and debugging, thereby ensuring the accuracy of the emission optical path.

[0032] The additional aspects and advantages of the present utility model will be partially given in the following description, partially will become apparent from the following description, or will be understood through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The following further describes the present utility model in conjunction with the drawings and embodiments, wherein:

[0034] Figure 1 is a partial cross-sectional view of the optical ranging device according to the embodiment of the present utility model;

[0035] Figure 2 Partial cross-sectional view of the upper reflecting mirror, rotating base, and base of the optical ranging device according to an embodiment of the present invention;

[0036] Figure 3 Top view schematic diagram of the first circuit board, second circuit board, circuit board connection part, and receiving lens of the optical ranging device according to an embodiment of the present invention.

[0037] Reference numerals:

[0038] 10. Transmitter; 20. Emission cylinder; 20a. Channel; 30. Emission lens; 40. First circuit board; 50. Receiving lens; 50a. Through hole; 50b. First mounting groove; 51. Skirt; 52. First connecting ear; 60. Second circuit board; 60a. Spacing area; 71. Base; 711. Support; 72. Rotating base; 73. Upper reflecting mirror; 74. Circuit board connection part; 75. Lower reflecting mirror; 76. Receiver; 77. Bearing. Detailed implementation manners

[0039] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0040] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0041] In the description of the present invention, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0042] In the description of the present invention, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above words in the present invention in combination with the specific content of the technical solution.

[0043] In the description of the utility model, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0044] In the related art, the optical distance measuring device includes a transmitter for emitting a light beam, a transmitting lens for collimating the light beam, a receiving lens for receiving a light beam reflected by an external object and focusing it, and a receiver for receiving the focused light beam. In some specific related arts, the transmitting lens is fixed to a lens barrel, and the lens barrel is fixed in the through hole of the receiving lens, specifically, a coaxial optical distance measuring device in which the transmitting lens and the receiving lens are coaxially arranged. This optical distance measuring device is often difficult to ensure the accuracy of the emission light path, or in order to ensure the accuracy of the emission light path, it has high requirements for assembly and debugging. The inventor of the present application found through research and analysis that in the assembly process, there is an installation tolerance between the transmitting lens and the lens barrel, a dimensional tolerance for the height of the lens barrel itself, an installation tolerance between the lens barrel and the receiving lens, a dimensional tolerance for the height of the receiving lens itself, and a position tolerance between the receiving lens and the transmitter. The above tolerances are superimposed layer by layer, which makes the accuracy of the emission light path decrease, or makes the difficulty of assembly and debugging greater. In view of the above reasons, the inventor of the present application improved the optical distance measuring device in the prior art and obtained the technical solution of the present application.

[0045] Please refer to Figures 1 - 3 The present application provides an optical ranging device, including a transmitter 10, a transmitting tube 20, a transmitting lens 30, a first circuit board 40 and a receiving lens 50.

[0046] Please refer to Figure 1 The transmitter 10 is used to emit a light beam. The transmitting tube 20 has a channel 20a inside to allow the light beam to be emitted. The light beam emitted by the transmitter 10 passes through the channel 20a and is emitted outward. The transmitter 10 and the transmitting tube 20 are both fixedly arranged on the first circuit board 40. In other words, the transmitter 10 and the transmitting tube 20 have a common fixed reference.

[0047] The emission lens 30 is fixed to the emission tube 20 and is disposed corresponding to the channel 20a. Thus, the light beam incident on the channel 20a can be incident on the emission lens 30, and then collimated by the emission lens 30 and emitted outward.

[0048] The receiving lens 50 is used to focus the light beam reflected by an external object. The receiving lens 50 has a through hole 50a, and the emitting cylinder 20 is disposed within the through hole 50a, with the emitting cylinder 20 being spaced apart from or having a clearance fit with the through hole 50a.

[0049] Among them, being spaced apart means that there is a visible gap between the emitting cylinder 20 and the through hole 50a, causing the two to be completely separated. A clearance fit means that there is a clearance in the actual dimensions between the emitting cylinder 20 and the through hole 50a, but the fit tolerance is small such that it may not be visible to the naked eye, yet the fit between the two can be easily separated.

[0050] It can be understood that the emitting lens 30 can be disposed at the end of the emitting cylinder 20, outside the channel 20a. It can also be disposed within the channel 20a of the emitting cylinder 20.

[0051] It can be understood that the cross-section of the through hole 50a can be circular, square, or any polygon. The cross-section of the emitting cylinder 20 can also be circular, square, or any polygon. And on the basis of meeting the spaced-apart setting or clearance fit, the shape of the cross-section of the emitting cylinder 20 can be the same as or different from the shape of the through hole 50a.

[0052] It can be understood that the first circuit board 40 can be a PCB board.

[0053] By fixedly disposing both the emitter 10 and the emitting cylinder 20 on the first circuit board 40, the emitter 10 and the emitting cylinder 20 have the same installation reference. By setting the emitting cylinder 20 to be spaced apart from or having a clearance fit with the through hole 50a, the influence of the receiving lens 50 on the installation position of the emitting cylinder 20 is eliminated. Compared with the solutions in the related art, the optical ranging device of the present application eliminates the installation tolerance between the receiving lens 50 and the emitting cylinder 20, the dimensional tolerance of the receiving lens 50 itself, and the positional tolerance between the receiving lens 50 and the emitter 10 on the emitting optical path, greatly reducing the assembly difficulty and thus ensuring the accuracy of the emitting optical path.

[0054] The present application also provides a mobile robot, which includes an optical ranging device. The mobile robot measures the distance of an external object through the optical ranging device to achieve obstacle avoidance. The mobile robot can be a cleaning robot with functions such as sweeping and mopping the floor, a service robot with functions such as delivering meals and goods, a lawn mowing robot with a lawn mowing function, a handling robot for handling goods in a warehouse or factory, etc.

[0055] It can be understood that the emitting cylinder 20 has a light-shielding function, and the emitting cylinder 20 can isolate the crosstalk between the light beam emitted by the emitter 10 and the light beam reflected by an external object and entering the receiving lens 50.

[0056] In some embodiments, an adhesive is provided at the connection between the launch tube 20 and the first circuit board 40. The adhesive has an adhesive function. By providing the adhesive at the connection between the launch tube 20 and the first circuit board 40, the launch tube 20 can be adhesively fixed to the first circuit board 40.

[0057] The adhesive cooperates with the first circuit board 40 to shield and seal one end of the light-shielding channel 20a close to the first circuit board 40. It can be understood that there may be a light-transmitting gap at the connection between the launch tube 20 and the first circuit board 40, and interfering light may be able to enter the channel 20a through the above gap, affecting the detection accuracy. By providing the adhesive, in cooperation with the first circuit board 40, it can shield and seal one end of the channel 20a close to the first circuit board 40, that is, the connection between the launch tube 20 and the first circuit board 40 can be shielded and sealed, thereby further reducing the possibility of crosstalk.

[0058] The adhesive can be an opaque glue, which is coated on the first circuit board 40 and presents a closed ring shape. One end of the launch tube 20 abuts against the position of the glue on the first circuit board 40. After curing, it can connect the launch tube 20 and the first circuit board 40 and achieve light shielding.

[0059] In some embodiments, the emitter 10 is located inside the channel 20a and at the focal point of the emission lens 30. In this way, the divergent light beam emitted by the emitter 10 can be collimated into parallel light by the emission lens 30 and then emitted.

[0060] It can be understood that the emission lens 30 can be a single lens or a combination of multiple lenses. For the combination of multiple lenses, the so-called focal point of the emission lens 30 refers to the focal point after the combination of the above multiple lenses.

[0061] It can be understood that the optical ranging device can have only one circuit board, that is, the first circuit board 40. It can also have multiple circuit boards, with one circuit board used as the first circuit board 40 to install the emitter 10, and other circuit components are provided on other circuit boards.

[0062] Please refer to Figure 1 and Figure 3, in some embodiments, the optical ranging device further includes a second circuit board 60, and there is a spacer 60a between the first circuit board 40 and the second circuit board 60. Along the axial direction of the through hole 50a, the orthographic projection of the second circuit board 60 surrounds the orthographic projection of the receiving lens 50. Here, the axial direction of the through hole 50a refers to the extending direction of the through hole 50a, and the radial direction of the through hole 50a in the following text refers to the direction pointing away from the through hole 50a and perpendicular to the extending direction of the through hole 50a. Along the axial direction of the through hole 50a, the orthographic projection of the spacer 60a is distributed between the orthographic projection of the second circuit board 60 and the orthographic projection of the receiving lens 50, and the light beam reflected by an external object can pass through the spacer 60a. Moreover, at least part of the orthographic projection of the receiving lens 50 coincides with the orthographic projection of the spacer 60a. In this way, the light beam reflected by an external object is focused after entering the receiving lens 50, and the focused light beam can pass through the spacer 60a. It can be understood that the light beam focused by the receiving lens 50 passes through the spacer 60a inside the second circuit board 60, rather than passing through the outer area of the second circuit board 60. This enables the radial dimension of the receiving lens 50 to meet the requirement that at least part of the orthographic projection of the receiving lens 50 coincides with the orthographic projection of the spacer 60a, without being limited by the size of the second circuit board 60.

[0063] It can be understood that the optical ranging device includes a receiver 76, and the focused light beam can reach the receiver 76 after passing through the spacer 60a.

[0064] Please refer to Figure 2 , in some embodiments, the optical ranging device further includes a base 71, a rotating base 72, and an upper reflector 73. The upper reflector 73 is used to reflect the light beam emitted from the channel 20a. Relative to the rotation axis of the rotating base 72, the upper reflector 73 is inclinedly disposed on the rotating base 72 and is driven to rotate by the rotating base 72. Among them, the upper reflector 73 is used to reflect the detection light beam collimated by the transmitting lens 30, and by rotating following the rotating base 72, the detection light beam is scanned 360° around the surrounding environment, so as to perform 360° obstacle detection or two-dimensional or even three-dimensional map building on the surrounding environment. In some embodiments, relative to the rotation center axis of the rotating base 72, the inclination angle of the upper reflector 73 is 45°.

[0065] The rotating base 72 is rotatably disposed on the base 71. The specific setting method is as follows: At least part of the base 71 is located on the side of the first circuit board 40 away from the transmitting cylinder 20. The base 71 has a support 711 protruding toward the first circuit board 40, and the rotating base 72 is rotatably disposed on the part of the support 711 extending out of the spacer 60a. Among them, the support 711 extends out of the spacer 60a, and the support 711 surrounds the receiving lens 50.

[0066] In this way, the spacer 60a is arranged to allow the light beam focused by the receiving lens 50 to pass through and also to allow the support 711 to pass upward to rotatably mount the rotating base 72, having a high structural integration degree.

[0067] Wherein, a bearing 77 can be arranged between the part of the support 711 extending out of the spacer 60a and the rotating base 72, and the rotational frictional force between the two is reduced through the bearing 77. In some embodiments, the inner ring surface of the bearing 77 is connected to the part of the support 711 extending out of the spacer 60a, and the outer ring surface is connected to the rotating base 72; in other embodiments, the outer ring surface of the bearing 77 is connected to the part of the support 711 extending out of the spacer 60a, and the inner ring surface is connected to the rotating base 72.

[0068] Please refer to Figure 1 and Figure 3 , in some embodiments, a circuit board connection part 74 is arranged between the first circuit board 40 and the second circuit board 60, and the first circuit board 40 and the second circuit board 60 are electrically connected through the circuit board connection part 74. The first circuit board 40, the circuit board connection part 74 and the second circuit board 60 are integrally formed. That is, the three are processed from a whole circuit board, which makes the manufacturing cost and installation cost of the components themselves low and the integration degree high.

[0069] In the above embodiments, the spacer 60a between the first circuit board 40 and the second circuit board 60 is an open ring, and the opening position is the position of the circuit board connection part 74.

[0070] In other embodiments, the circuit board connection part 74 is a flexible circuit board or a wire. That is to say, after the first circuit board 40 and the second circuit board 60 are processed separately, they are electrically connected by the flexible circuit board or the wire. The flexible circuit board or the wire can be flexibly bent, so that the arrangement of the first circuit board 40 and the second circuit board 60 is more flexible, and the arrangement positions of the two can be adjusted according to the installation space, making the structure more compact. For example, the first circuit board 40 and the second circuit board 60 can be arranged at different heights.

[0071] It can be understood that the fixing methods of the receiving lens 50 and the first circuit board 40 are not limited.

[0072] In some embodiments, the receiving lens 50 is fixedly connected to the second circuit board 60, and the receiving lens 50 or the second circuit board 60 is fixed to the base 71, so as to integrally fix the receiving lens 50 and the second circuit board 60 to the base 71. In the above fixing method, the receiving lens 50 can meet the installation requirements without cooperating with the emitting cylinder 20, thus providing conditions for clearance fit or spaced arrangement between the receiving lens 50 and the emitting cylinder 20.

[0073] In the above embodiments, the manner in which the receiving lens 50 is fixedly connected to the second circuit board 60 is not limited. In some embodiments, the receiving lens 50 or components connected to the receiving lens 50 (such as the skirt portion 51 described below) have a plurality of first connecting ears 52 that protrude outwardly, and the second circuit board 60 has a plurality of second connecting ears that protrude inwardly (not shown in the figure), and the first connecting ears 52 are adhesively fixed to the second connecting ears.

[0074] In some embodiments, the receiving lens 50 and the first circuit board 40 are respectively fixed to the base 71. Similarly, this fixing method can provide conditions for the clearance fit or spaced arrangement between the receiving lens 50 and the emission cylinder 20.

[0075] It can be understood that the receiving lens 50, the second circuit board 60, and the first circuit board 40 can be fastened to the base 71 by bolts, or can be adhesively fixed to the base 71 by setting adhesive.

[0076] In some embodiments, the receiving lens 50 has a first mounting groove 50b, and the first mounting groove 50b extends radially from the through hole 50a to the outside of the receiving lens 50 along the radial direction of the through hole 50a, and the first mounting groove 50b is spaced apart from or in clearance fit with the circuit board connection portion 74.

[0077] It can be understood that the circuit board connection portion 74 is arranged in the first mounting groove 50b, that is, located inside the receiving lens 50, so as to make the structure more compact. By spacing apart or providing a clearance fit between the first mounting groove 50b and the circuit board connection portion 74, it is avoided that the circuit board connection portion 74 deforms relative to the second circuit board 60 due to the contact between the first mounting groove 50b of the receiving lens 50 and the circuit board connection portion 74, thereby affecting the position accuracy of the first circuit board 40 and further affecting the position accuracy of the emitter 10.

[0078] In order to facilitate the installation of the circuit board connection portion 74, in some embodiments, the receiving lens 50 has a light incident side and a light exit side, and the light beam reflected by an external object penetrates the receiving lens 50 in the direction from the light incident side to the light exit side. The first mounting groove 50b has an opening facing the light incident side of the receiving lens 50 or has an opening facing the light exit side of the receiving lens 50. In this way, the circuit board connection portion 74 can be inserted into the first mounting groove 50b from the light incident side of the receiving lens 50, or can be inserted into the first mounting groove 50b from the light exit side of the receiving lens 50.

[0079] In some embodiments, along the axial direction of the through hole 50a, at least a portion of the first circuit board 40 extends into the through hole 50a and is spaced or gap-matched with the side wall of the through hole 50a. It is understandable that external light enters the through hole 50a from the gap between the first circuit board 40 and the through hole 50a. By at least partially setting the first circuit board 40 in the through hole 50a, the above gap of external light entering the through hole 50a can be reduced. By setting the first circuit board 40 and the side wall of the through hole 50a with a spaced or gap-matched arrangement, the deformation of the first circuit board 40 relative to the second circuit board 60 caused by the contact between the through hole 50a of the receiving lens 50 and the first circuit board 40 is avoided to affect the position accuracy of the first circuit board 40, thereby affecting the position accuracy of the transmitter 10.

[0080] In some embodiments, the optical distance measuring device further includes a lower reflector 75 and a receiver 76, and the lower reflector 75 is used to reflect the light beam passing through the receiving lens 50 to the receiver 76. Specifically, the light beam is emitted from the transmitter 10, collimated by the transmitting lens 30 and emitted to the external object, reflected by the external object and reaches the receiving lens 50, focused by the receiving lens 50 and emitted to the lower reflector 75, reflected by the lower reflector 75 to the receiver 76, and focused on the receiver 76.

[0081] The end of the receiving lens 50 facing the light emitting side is connected with a protruding skirt 51, and along the axial direction of the through hole 50a, the orthographic projection of the skirt 51 surrounds the orthographic projection of the through hole 50a, and the lower reflector 75 is installed on the skirt 51. In this way, the light beam focused by the receiving lens 50 can be reflected by the lower reflector 75.

[0082] It is understood that in some embodiments, the skirt 51 is a closed annular structure. Furthermore, the skirt 51 may be a circular annular structure or a polygonal annular structure. In other embodiments, the skirt 51 may be an incomplete annular structure with a notch, wherein the notch of the skirt 51 may be one or more, and these notches may be used to avoid the circuit board connection portion 74 when installing the first circuit board 40 and the second circuit board 60.

[0083] The receiver 76 is disposed on a side of the first circuit board 40 that is away from the transmitting tube 20 and is disposed opposite to the lower reflector 75. The light beam reflected by the lower reflector 75 can be focused on the receiver 76.

[0084] By arranging the lower reflector 75, the optical path behind the receiving lens 50 can be folded, reducing the height space occupied by the optical path behind the receiving lens 50, and thus reducing the height dimension of the optical ranging device. Moreover, with the above design, the receiver 76 can be arranged on the same circuit board as the transmitter 10. For example, the transmitter 10 is mounted on the front side of the first circuit board 40, and the receiver 76 is mounted on the back side of the first circuit board 40. On the one hand, the structural integration degree is relatively high, and there is no need to separately provide circuit boards for the transmitter 10 and the receiver 76. Considering the gap between the through hole 50a of the receiving lens 50 and the first circuit board 40, it is avoided that the first circuit board 40 deforms relative to the second circuit board 60 due to the contact between the through hole 50a of the receiving lens 50 and the first circuit board 40, which affects the position accuracy of the first circuit board 40 and further affects the position accuracy of the receiver 76.

[0085] In some embodiments, the skirt portion 51 is integrally formed with the receiving lens 50. It can be understood that the integral formation of the skirt portion 51 and the receiving lens 50 can simplify the assembly steps.

[0086] In other embodiments, the skirt portion 51 is fixedly connected to the receiving lens 50. That is to say, the skirt portion 51 and the receiving lens 50 are not integrally formed, but are fixedly connected after being separately formed. With the above-mentioned separately formed manner, there is no need to consider the problem of demolding during integral formation, and the degree of freedom in structural design is higher.

[0087] In some embodiments, the optical axis of the receiving lens 50 is coaxially arranged with the axial direction of the channel 20a for convenient processing.

[0088] In some embodiments, the axial direction of the channel 20a is coaxially arranged with the axial direction of the emission cylinder 20 to facilitate the installation and positioning of the emission cylinder 20.

[0089] In some embodiments, the axial direction of the emission cylinder 20 is coaxially arranged with the optical axis of the emission lens 30 to ensure the collimation effect of the light beam emission.

[0090] In some embodiments, the optical axis of the emission lens 30 is coaxially arranged with the optical axis of the receiving lens 50 to minimize the detection blind area.

[0091] In some embodiments, the receiving lens 50 and the emission cylinder 20 are coaxially arranged.

[0092] In some embodiments, the channel 20a and the emission lens 30 are coaxially arranged.

[0093] The embodiments of the present utility model have been described in detail above in conjunction with the accompanying drawings. However, the present utility model is not limited to the above embodiments, and various changes can be made without departing from the gist of the present utility model within the scope of knowledge possessed by those of ordinary skill in the relevant art. In addition, the embodiments of the present utility model and the features in the embodiments can be combined with each other without conflict.

Claims

1. An optical ranging device, characterized in that, include: A transmitter, the transmitter being used to transmit a light beam; A launch tube having a passage inside to allow the light beam to be emitted; A transmitting lens, the transmitting lens is fixed to the transmitting tube and is arranged corresponding to the channel; A first circuit board, the transmitter and the transmitting tube are both fixedly arranged on the first circuit board; and A receiving lens, wherein the receiving lens has a through hole, the transmitting tube is arranged in the through hole, and the transmitting tube and the through hole are arranged at an interval or with a gap.

2. The optical distance measuring device according to claim 1, characterized in that, Adhesive glue is provided at the connection between the transmitting tube and the first circuit board, and the adhesive glue cooperates with the first circuit board to light-shield and seal the end of the channel close to the first circuit board.

3. The optical distance measuring device according to claim 1, characterized in that, The emitter is located within the channel and at the focal point of the transmitting lens.

4. The optical distance measuring device according to claim 1, characterized in that, It also includes a second circuit board, a spacing area is provided between the first circuit board and the second circuit board, and along the axial direction of the through hole, the orthographic projection of the second circuit board surrounds the orthographic projection of the receiving lens, and the orthographic projection of the receiving lens at least partially overlaps with the orthographic projection of the spacing area.

5. The optical distance measuring device according to claim 4, characterized in that, It also includes a base, a rotating base and an upper reflector, wherein the upper reflector is used to reflect the light beam emitted from the channel, and relative to the rotation axis of the rotating base, the upper reflector is tiltedly arranged on the rotating base and driven to rotate by the rotating base; At least part of the base is located on a side of the first circuit board away from the transmitting tube, the base has a support protruding toward the first circuit board, and the rotating seat is rotatably arranged on the part of the support extending out of the spacing area; wherein the support extends from the spacing area, and the support is arranged around the receiving lens.

6. The optical distance measuring device according to claim 4, characterized in that, A circuit board connecting portion is provided between the first circuit board and the second circuit board, and the first circuit board and the second circuit board are electrically connected through the circuit board connecting portion; The first circuit board, the circuit board connecting portion and the second circuit board are integrally formed, or the circuit board connecting portion is a flexible circuit board or a wire.

7. The optical distance measuring device according to claim 6, characterized in that, Also includes a base. The receiving lens is fixedly connected to the second circuit board, and the receiving lens or the second circuit board is fixed to the base; or, The receiving lens and the first circuit board are respectively fixed to the base.

8. The optical distance measuring device according to claim 6, wherein, The receiving lens has a first mounting groove, which penetrates from the through hole along the radial direction of the through hole to the outside of the receiving lens, and the first mounting groove is spaced apart or gap-matched with the circuit board connecting portion.

9. The optical distance measuring device according to claim 8, characterized in that, The receiving lens has a light-incoming side and a light-exiting side, and the first mounting groove has an opening toward the light-incoming side of the receiving lens or has an opening toward the light-exiting side of the receiving lens.

10. The optical distance measuring device according to claim 1, characterized in that, Along the axial direction of the through hole, at least a portion of the first circuit board extends into the through hole and is spaced apart from or gap-matched with a side wall of the through hole.

11. The optical distance measuring device according to claim 1, characterized in that, It also includes a lower reflector and a receiver, wherein the lower reflector is used to reflect the light beam passing through the receiving lens to the receiver; The receiving lens has a light-incoming side and a light-outgoing side; a protruding skirt is connected to one end of the receiving lens facing the light-outgoing side, and along the axial direction of the through hole, the orthographic projection of the skirt surrounds the orthographic projection of the through hole, and the lower reflector is mounted on the skirt; wherein the skirt is integrally formed with or fixedly connected to the receiving lens; The receiver is arranged on a side of the first circuit board away from the transmitting tube and is arranged opposite to the lower reflector.

12. The optical distance measuring device according to claim 1, characterized in that, The optical axis of the receiving lens is coaxially arranged with the axial direction of the through hole; and / or, The axial direction of the channel is coaxial with the axial direction of the launching tube; and / or, The axial direction of the transmitting tube is coaxial with the optical axis of the transmitting lens; and / or, The optical axis of the transmitting lens is coaxially arranged with the optical axis of the receiving lens.

13. A mobile robot, characterized in that, An optical distance measuring device comprising any one of claims 1-12.

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