Optical distance measuring device and mobile robot

Abstract

The utility model discloses an optical ranging device and a mobile robot, and relates to the technical field of optical ranging, the optical ranging device comprises a base, a support and a circuit board, the support is rotatably installed on the base, the circuit board comprises a fixed part and a suspended part, the fixed part is fixedly installed on the support, two sides of the suspended part are suspended and are parallel to the rotation axis of the support, and the circuit board is fixed on the fixed part. When the support rotates, the suspension part can disturb air, contact between the circuit board and the air can be increased, convection heat exchange efficiency is improved, and therefore the heat dissipation effect is effectively improved, and working stability is kept. The mobile robot comprises the optical distance measuring device and further comprises a driver, and the driver is arranged on the base and can drive the support to rotate around the rotating axis.

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] A lidar mainly includes an opto-mechanical module for emitting laser and receiving the laser reflected by an external object. The distance between the external object and the opto-mechanical module can be measured according to the time difference between laser emission and reception (TOF principle), or according to the landing position of the laser on the laser receiver (triangulation principle). Currently, the opto-mechanical module can rotate 360°, so as to measure the distance or shape of the objects existing in each direction. However, for a high-power opto-mechanical module, more heat will be generated during operation. Currently, the opto-mechanical module is set relatively compactly, and the heat dissipation effect of the circuit board is not good. After long-term use, the circuit board will overheat, and even the components will be damaged. Summary of the Utility Model

[0003] The utility model aims to at least solve 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 heat dissipation efficiency and the working stability.

[0004] An optical ranging device according to an embodiment of the first aspect of the utility model includes:

[0005] A base;

[0006] A bracket rotatably mounted on the base;

[0007] A circuit board, the circuit board includes a fixed part and a suspended part. The fixed part is fixedly mounted on the bracket, and both sides of the suspended part are suspended and parallel to the rotation axis of the bracket. When the bracket rotates, the suspended part can disturb the air to achieve the heat dissipation function.

[0008] An optical ranging device according to an embodiment of the first aspect of the utility model has at least the following beneficial effects: This embodiment is provided with a base, a bracket and a circuit board. The bracket is rotatably mounted on the base. The circuit board includes a fixed part and a suspended part. The fixed part is fixedly mounted on the bracket. Both sides of the suspended part are suspended and parallel to the rotation axis of the bracket. When the bracket rotates, the suspended part can disturb the air, which can increase the contact between the circuit board and the air, improve the convective heat transfer efficiency, and thus effectively improve the heat dissipation effect and maintain the working stability.

[0009] According to an embodiment of the first aspect of the present utility model, the fixing portion and the suspended portion are parallel to the rotation axis, the suspended portion is provided with blades extending outward in a direction perpendicular to the rotation axis, and along a direction perpendicular to the circuit board, the blades are arranged offset from the rotation axis; or, the fixing portion and the suspended portion are perpendicular to the rotation axis, and along a direction perpendicular to the circuit board, the suspended portion is arranged offset from the rotation axis.

[0010] According to an embodiment of the first aspect of the present utility model, a first emission channel and a first reception channel are provided inside the bracket, the fixing portion is provided with an emission area and a reception area, an emitter for emitting a light beam is provided on the emission area, the emitter is correspondingly arranged with the inlet end of the first emission channel, and the emitter can emit a light beam to the outside through the first emission channel; a receiver for receiving the light beam is provided on the reception area, the receiver is correspondingly arranged with the outlet end of the first reception channel, and the receiver can receive the light beam reflected from the outside through the first reception channel.

[0011] According to an embodiment of the first aspect of the present utility model, there is at least one circuit board, and both the emission area and the reception area are arranged on one circuit board.

[0012] According to an embodiment of the first aspect of the present utility model, the circuit board includes a first circuit board and a second circuit board; the fixing portion includes a first fixing portion and a second fixing portion, the first fixing portion is a part of the first circuit board and the first fixing portion is provided with an emission area, the second fixing portion is a part of the second circuit board and the second fixing portion is provided with a reception area; the bracket includes a main unit, the main unit includes a plurality of side portions, the side portions include a first side portion and a second side portion, the first fixing portion is fixedly connected to the first side portion, and the second fixing portion is fixedly connected to the second side portion.

[0013] According to an embodiment of the first aspect of the present utility model, the first fixing portion is perpendicularly arranged to the first emission channel; or, the first fixing portion is parallelly arranged to the first emission channel and a first reflecting mirror is provided between the emission area and the first emission channel; or, the bracket further includes a second emission channel, the second emission channel is communicated with the inlet end of the first emission channel and a first reflecting mirror is provided between the second emission channel and the first emission channel, the second emission channel is correspondingly arranged with the emitter and the second emission channel is located between the first emission channel and the first fixing portion in the propagation direction of the light beam; the second fixing portion is perpendicularly arranged to the first reception channel; or, the second fixing portion is parallelly arranged to the first reception channel and a second reflecting mirror is provided between the reception area and the first reception channel; or, the bracket further includes a second reception channel, the second reception channel is communicated with the outlet end of the first reception channel and a second reflecting mirror is provided between the second reception channel and the first reception channel, the second reception channel is correspondingly arranged with the receiver and the second reception channel is located between the first reception channel and the second fixing portion in the propagation direction of the light beam.

[0014] According to an embodiment of the first aspect of the present utility model, multiple side portions of the main unit include an upper side portion, a lower side portion, a front side portion, a rear side portion, a left side portion, and a right side portion. The lower side portion is used for rotatably connecting with the base, and the front side portion is used for forming an outlet end of the first emission channel and an inlet end of the first reception channel; the first side portion is one of the upper side portion, the rear side portion, the left side portion, and the right side portion, and the second side portion is one different from the first side portion among the upper side portion, the rear side portion, the left side portion, and the right side portion; or, the first side portion and the second side portion are different parts of one of the upper side portion, the rear side portion, the left side portion, and the right side portion.

[0015] According to an embodiment of the first aspect of the present utility model, the bracket further includes a first convex unit and a second convex unit. The first convex unit extends from the first side portion in a direction away from the main unit, and the second convex unit extends from the second side portion in a direction away from the main unit; the first convex unit includes a first side portion and a first outer side portion. The first side portion is connected to the first side portion, the first outer side portion faces away from the main unit, and the first fixing portion is connected to the first side portion or the first outer side portion. The suspended portion of the first circuit board extends from the fixing portion in a direction away from the first convex unit; the second convex unit includes a second side portion and a second outer side portion. The second side portion is connected to the second side portion, the second outer side portion faces away from the main unit, and the second fixing portion is connected to the second side portion or the second outer side portion. The suspended portion of the second circuit board extends from the fixing portion of the second circuit board in a direction away from the second convex unit.

[0016] According to an embodiment of the first aspect of the present utility model, the first convex unit extends leftward from the lower part of the left side portion, the first fixing portion is connected to the first outer side portion of the first convex unit, and the suspended portion of the first circuit board is located above the first fixing portion and is spaced from the upper part of the left side portion; the second convex unit extends rightward from the upper part of the right side portion, the second fixing portion is connected to the second outer side portion of the second convex unit, and the suspended portion of the second circuit board is located below the second fixing portion and is spaced from the lower part of the right side portion; or, the first convex unit extends leftward from the upper part of the left side portion, the first fixing portion is connected to the first outer side portion, and the suspended portion of the first circuit board is located below the first fixing portion and is spaced from the lower part of the left side portion; the second convex unit extends rightward from the lower part of the right side portion, the second fixing portion is connected to the second outer side portion, and the suspended portion of the second circuit board is located above the first fixing portion and is spaced from the upper part of the left side portion.

[0017] According to an embodiment of the first aspect of the present utility model, the bracket further includes a second emission channel. The second emission channel is communicated with the inlet end of the first emission channel, and a first reflector is provided between the second emission channel and the first emission channel. The second emission channel is correspondingly arranged with the emitter, and in the propagation direction of the light beam, the second emission channel is located between the first emission channel and the first fixing portion. Wherein, the first emission channel is arranged in the main unit, and the second emission channel is arranged in the first convex unit; and / or, the bracket further includes a second receiving channel. The second receiving channel is communicated with the outlet end of the first receiving channel, and a second reflector is provided between the second receiving channel and the first receiving channel. The second receiving channel is correspondingly arranged with the receiver, and in the propagation direction of the light beam, the second receiving channel is located between the first receiving channel and the second fixing portion. Wherein, the first receiving channel is arranged in the main unit, and the second receiving channel is arranged in the second convex unit.

[0018] According to an embodiment of the first aspect of the present utility model, an emission lens is provided in the first emission channel, and a receiving lens is provided in the first receiving channel. The light beam passes through the emission lens and emits to the outside from the first emission channel, and the light beam reflected from the outside passes through the receiving lens and enters the first receiving channel.

[0019] According to an embodiment of the first aspect of the present utility model, a control unit is provided on the suspension portion. The control unit is used to control the emitter to emit the light beam and / or process the receiver to receive the light beam; and / or, a heat dissipation unit is provided on the suspension portion. The heat dissipation unit is used to accelerate the heat dissipation of the suspension portion.

[0020] According to an embodiment of the second aspect of the present utility model, a mobile robot is provided, which includes the above-mentioned optical ranging device. Wherein, a driver is further included, and the driver is arranged on the base and can drive the bracket to rotate around the rotation axis.

[0021] The mobile robot according to the embodiment of the second aspect of the present utility model has at least the following beneficial effects:

[0022] Compared with the prior art, the mobile robot is provided with an optical ranging device and a driver. The driver can drive the optical ranging device to rotate around the rotation axis. The optical ranging device includes a base, a bracket and a circuit board. The bracket is rotatably installed on the base. The circuit board includes a fixing portion and a suspension portion. The fixing portion is fixedly installed on the bracket. Both sides of the suspension portion are suspended and parallel to the rotation axis of the bracket. When the bracket rotates, the suspension portion can disturb the air, which can increase the contact between the circuit board and the air, improve the convective heat transfer efficiency, and thus effectively improve the heat dissipation effect and maintain the working stability.

[0023] The additional aspects and advantages of the present utility model will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present utility model. Description of the Drawings

[0024] The following further describes the present utility model in conjunction with the accompanying drawings and embodiments, where:

[0025] Figure 1 It is a schematic diagram of the first structure of an optical distance measuring device in the embodiment of the first aspect of the present utility model;

[0026] Figure 2 It is a schematic diagram of the second structure of an optical distance measuring device in the embodiment of the first aspect of the present utility model;

[0027] Figure 3 It is a schematic diagram of the third structure of an optical distance measuring device in the embodiment of the first aspect of the present utility model;

[0028] Figure 4 It is a schematic diagram of the position of the side part in the embodiment of the first aspect of the present utility model;

[0029] Figure 5 It is a schematic diagram of the positions of the first convex unit and the second convex unit on the main unit in the embodiment of the first aspect of the present utility model;

[0030] Figure 6 It is an axonometric view of an optical distance measuring device in the embodiment of the first aspect of the present utility model;

[0031] Figure 7 It is an axonometric view of the bracket in the embodiment of the first aspect of the present utility model

[0032] Figure 8 It is a cross-sectional view of the receiving channel in the embodiment of the first aspect of the present utility model;

[0033] Figure 9 It is a cross-sectional view of the transmitting channel in the embodiment of the first aspect of the present utility model;

[0034] Figure 10 It is a cross-sectional view of the driver in the embodiment of the second aspect of the present utility model.

[0035] Reference numerals:

[0036] Base 100; fixing part 102; suspended part 103; blade 104; transmitting area 105; receiving area 106;

[0037] Bracket 110; first convex unit 1101; second convex unit 1102; hollow portion 1104; rotation axis 1105; upper side portion 1106; lower side portion 1107; front side portion 1108; rear side portion 1109; left side portion 1110; right side portion 1111; first emission channel 111; second emission channel 112; first reception channel 113; second reception channel 114; emission lens 115; reception lens 116; first reflector 117; second reflector 118; main unit 119; first side portion 1191; first outer side portion 1192; second side portion 1193; second outer side portion 1194; driver 120; transmitter 122; receiver 123; first circuit board 127; first fixing portion 1271; second circuit board 128; second fixing portion 1281. Detailed implementation manners

[0038] The embodiments of the present invention will be described in detail below. The 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 by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0039] In the description of the present invention, it should be understood that for the orientation description, such as the upper, lower, front, rear, left, right, etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings. It 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 to the present invention.

[0040] In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, 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 the first and second are described only for the purpose of distinguishing technical features, they should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0041] In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, connection, etc. should be understood in a broad sense. 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.

[0042] A lidar mainly includes an opto-mechanical module for emitting laser light and receiving the laser light reflected by an external object. It can measure the distance between the external object and the opto-mechanical module based on the time difference between laser emission and reception (TOF principle) or based on the landing position of the laser on the laser receiver (triangulation principle). The current opto-mechanical module can rotate 360°, thereby measuring the distance or shape of objects existing in various directions. However, for a high-power opto-mechanical module, a large amount of heat is generated during operation. The current opto-mechanical module is set relatively compactly, and the heat dissipation effect of the circuit board is not good. After long-term use, the circuit board will overheat, and even component damage will occur.

[0043] To solve the above problems, an optical ranging device according to an embodiment of the present invention includes a base 100, a bracket 110, and a circuit board. The bracket 110 is rotatably mounted on the base 100. The circuit board includes a fixed portion 102 and a suspended portion 103. The fixed portion 102 is fixedly mounted on the bracket 110. Both sides of the suspended portion 103 are suspended and parallel to the rotation axis 1105 of the bracket 110. When the bracket 110 rotates, the suspended portion 103 can disturb the air, increasing the contact between the circuit board and the air, improving the convective heat transfer efficiency, and thus effectively enhancing the heat dissipation effect and maintaining the stability of operation.

[0044] It should be noted that a preset coordinate system with XYZ axes is defined, and the rotation axis 1105 extends along the Z-axis direction. And, as Figure 1 shown, the directions extending along both ends of the Z-axis are defined as the upper and lower directions, the directions extending along both ends of the X-axis are defined as the left and right directions, and the directions extending along both ends of the Y-axis are defined as the front and rear directions.

[0045] Specifically, referring to Figure 1 , a first arrangement structure of the circuit board and the bracket 110: The fixed portion 102 and the suspended portion 103 are parallel to the rotation axis 1105. The suspended portion 103 is provided with blades 104 extending outward in a direction perpendicular to the rotation axis 1105. And along the direction perpendicular to the circuit board, that is, along the Y-axis, the blades 104 are offset from the rotation axis 1105. That is to say, the projection of the blades 104 along the Y-axis direction and the projection of the rotation axis 1105 along the Y-axis direction do not coincide. Thus, the blades 104 are on the outer side of the bracket 110 away from the rotation axis 1105. When the bracket 110 rotates, it can increase the degree of air disturbance of the circuit board, thereby improving the heat transfer efficiency. Relatively, in some embodiments, referring to Figure 1, the fixing part 102 is disposed opposite to the rotation axis 1105 in the Y-axis direction. That is to say, there is an overlapping part between the projection of the blade 104 in the Y-axis direction and the projection of the rotation axis 1105 in the Y-axis direction. Specifically, the suspended part 103 extends along the Z-axis from the fixing part 102 in the direction away from the bracket 110. The blade 104 can be disposed on either one or both sides of the suspended part 103. The extended blade 104 can effectively increase the contact area between the circuit board and the air, and further improve the disturbance effect on the air during the rotation of the bracket 110, thereby improving the heat dissipation efficiency.

[0046] Referring to Figure 2 , in some other embodiments, the second arrangement structure of the circuit board and the bracket 110: the fixing part 102 and the suspended part 103 are parallel to the rotation axis 1105, and the suspended part 103 extends in a direction perpendicular to the rotation axis 1105, that is, it can extend along the X-axis or the Y-axis, in a direction perpendicular to the circuit board. At this time, it can be considered that the end of the suspended part 103 far from the bracket 110 is the blade 104. In a direction perpendicular to the circuit board, such as Figure 2 the Y-axis direction in, the suspended part 103 can be arranged as a whole to be offset from the rotation axis 1105, or its end can be offset from the rotation axis 1105, which can also effectively increase the contact area between the circuit board and the air, and further improve the disturbance effect on the air during the rotation of the bracket 110, thereby improving the heat dissipation efficiency.

[0047] Referring to Figure 3 , in some other embodiments, if the effect of disturbing the air by the suspended part is not considered, the third arrangement structure of the circuit board and the bracket 110: the fixing part 102 and the suspended part 103 are perpendicular to the rotation axis 1105. It can be understood that the suspended part 103 extends in a direction perpendicular to the rotation axis 1105, that is, it can extend on the XY plane. The plate surface of the suspended part 103 in this arrangement is parallel to the rotation direction, and the effect of disturbing the air by itself can be ignored, but the function of disturbing the air can be realized by additionally installing some components protruding from its plate surface.

[0048] In some embodiments, referring to Figure 1-2 and Figure 8-9, the bracket 110 is provided with a first emission channel 111 and a first reception channel 113. The fixing part 102 is provided with an emission area 105 and a reception area 106. An emitter 122 for emitting a light beam is provided on the emission area 105. The emitter 122 is correspondingly arranged with the entrance end of the first emission channel 111. The emitter 122 can emit a light beam to the outside through the first emission channel 111. A receiver 123 for receiving the light beam is provided on the reception area 106. The receiver 123 is correspondingly arranged with the exit end of the first reception channel 113. The receiver 123 can receive the light beam reflected from the outside through the first reception channel 113 to realize the detection of external objects.

[0049] In some embodiments, referring to Figures 5 to 9 , the circuit board includes a first circuit board 127 and a second circuit board 128. The fixing part 102 includes a first fixing part 1271 and a second fixing part 1281. The first fixing part 1271 is a part of the first circuit board 127 and the emission area 105 is provided on the first fixing part 1271. The second fixing part 1281 is a part of the second circuit board 128 and the reception area 106 is provided on the second fixing part 1281. The bracket 110 includes a main unit 119. The main unit 119 includes a plurality of side parts. The side parts include a first side part and a second side part. The first fixing part 1271 is fixedly connected to the first side part. The second fixing part 1281 is fixedly connected to the second side part. By setting the circuit board into two and arranging the emission area 105 and the reception area 106 on the first circuit board 127 and the second circuit board 128 respectively, the heat dissipation requirements are shared by the first circuit board 127 and the second circuit board 128, and the layout flexibility of the circuit board is also improved.

[0050] It can be understood that the first fixing part 1271 and the first emission channel 111 are arranged perpendicularly, that is, the axial direction of the first emission channel 111 is perpendicular to the first fixing part 1271. The light beam emitted by the emitter 122 on the first fixing part 1271 reaches the outside through the first emission channel 111. This structure is relatively simple. In some other embodiments, the first fixing part 1271 and the first emission channel 111 are arranged parallelly, and a first reflector 117 is provided between the emission area 105 and the first emission channel 111. The light beam emitted by the emitter 122 is reflected by the first reflector 117 and then reaches the outside through the first emission channel 111. In some other embodiments, referring to Figure 8, the support 110 further includes a second emission channel 112. The second emission channel 112 communicates with the inlet end of the first emission channel 111, and a first reflector 117 is provided between the second emission channel 112 and the first emission channel 111. The second emission channel 112 is correspondingly arranged with the emitter 122, and the second emission channel 112 is located between the first emission channel 111 and the first fixing part 1271 in the light beam propagation direction. That is, the light beam emitted by the emitter 122 passes through the second emission channel 112, the first reflector 117, and the first emission channel 111 in sequence to reach the outside. By providing the first reflector 117 to adjust the propagation direction of the light beam, the relative position relationship between the first circuit board 127 and the emission channel can be adjusted more flexibly according to the stacking arrangement requirements of other components in the optical ranging device.

[0051] On the other hand, the second fixing part 1281 is arranged perpendicular to the first receiving channel 113, that is, the axis direction of the first receiving channel 113 is perpendicular to the second fixing part 1281. The light beam reflected from the outside passes through the first receiving channel 113 and reaches the receiver 123 on the second fixing part 1281. In some other embodiments, referring to Figure 3 , the second fixing part 1281 is arranged parallel to the first receiving channel 113, and a second reflector 118 is provided between the receiving area 106 and the first receiving channel 113. After the light beam reflected from the outside passes through the first receiving channel 113, it reaches the receiver 123 after being reflected by the second reflector 118. In some other embodiments, referring to Figure 9 , the support 110 further includes a second receiving channel 114. The second receiving channel 114 communicates with the outlet end of the first receiving channel 113, and a second reflector 118 is provided between the second receiving channel 114 and the first receiving channel 113. The second receiving channel 114 is correspondingly arranged with the receiver 123, and the second receiving channel 114 is located between the first receiving channel 113 and the second fixing part 1281 in the light beam propagation direction. The light beam reflected from the outside passes through the first receiving channel 113, the second reflector 118, and the second receiving channel 114 in sequence to reach the receiver 123. By providing the second reflector 118 to adjust the propagation direction of the light beam, the relative position relationship between the second circuit board 128 and the receiving channel can be adjusted more flexibly according to the stacking arrangement requirements of other components in the optical ranging device.

[0052] In some embodiments, referring to Figure 4, multiple sides of the main unit 119 include an upper side 1106, a lower side 1107, a front side 1108, a rear side 1109, a left side 1110, and a right side 1111. The lower side 1107 is used for rotatably connecting with the base 100, and the front side 1108 is used for forming the outlet end of the first emission channel 111 and the inlet end of the first reception channel 113. In some embodiments, the first side is one of the upper side 1106, the rear side 1109, the left side 1110, and the right side 1111, and the second side is one different from the first side among the upper side 1106, the rear side 1109, the left side 1110, and the right side 1111. The first circuit board 127 and the second circuit board 128 are respectively arranged on different sides of the main unit 119, thereby ensuring a certain spacing distance between the first circuit board 127 and the second circuit board 128, and having a certain effect of preventing local overheating. In some embodiments, when the first side and the second side are selected from the left side 1110, the right side 1111, and the rear side 1109, the first fixing portion 1271 and the second fixing portion 1281 are arranged on the outer periphery of the bracket 110 around the rotation axis 1105. Since the linear velocity of the outer periphery of the bracket 110 is relatively large during the rotation process, the first circuit board 127 and the second circuit board 128 arranged on the outer periphery of the bracket 110 can have a relatively large moving speed, thereby increasing the contact with air and achieving an improved heat dissipation effect.

[0053] In other embodiments, the first side and the second side are different parts of one of the upper side 1106, the rear side 1109, the left side 1110, and the right side 1111. That is to say, the first circuit board 127 and the second circuit board 128 can be arranged adjacent to each other, so that the layout integration degree of the optical ranging device is relatively high, which is beneficial to simplifying the spatial layout design. For example, in some embodiments, the first circuit board 127 is arranged on the upper part of the rear side 1109, and the second circuit board 128 is arranged on the lower part of the rear side 1109.

[0054] Further, referring to Figure 5 and Figure 6, the bracket 110 further includes a first convex unit 1101 and a second convex unit 1102. The first convex unit 1101 extends from the first side portion in a direction away from the main unit 119, and the second convex unit 1102 extends from the second side portion in a direction away from the main unit 119. Further, the first convex unit 1101 includes a first side portion 1191 and a first outer side portion 1192. The first side portion 1191 is connected to the first side portion, and the first outer side portion 1192 faces away from the main unit 119. The first fixing portion 1271 can be connected to the first side portion 1191 or the first outer side portion 1192. The suspended portion 103 of the first circuit board 127 extends from the first fixing portion 1271 in a direction away from the first convex unit 1101. The second convex unit 1102 includes a second side portion 1193 and a second outer side portion 1194. The second side portion 1193 is connected to the second side portion. The second convex unit 1102 includes a second side portion 1193 and a second outer side portion 1194. The second side portion 1193 is connected to the second side portion, and the second outer side portion 1194 faces away from the main unit 119. The second fixing portion 1281 can be connected to the second side portion 1193 or the second outer side portion 1194. The suspended portion 103 of the second circuit board 128 extends from the fixing portion 102 of the second circuit board 128 in a direction away from the second convex unit 1102. By providing the first convex unit 1101 and the second convex unit 1102 to connect with the first circuit board 127 and the second circuit board 128, it can be considered that the portion of the first circuit board 127 in contact and cooperation with the first convex unit 1101 is the first fixing portion 1271, and the portion of the second circuit board 128 in contact and cooperation with the second convex unit 1102 is the second fixing portion 1281. Compared with directly connecting the first circuit board 127 and the second circuit board 128 to the first side portion and the second side portion of the main unit 119, the areas of the first fixing portion 1271 of the first circuit board 127 and the second fixing portion 1281 of the second circuit board 128 can be reduced, thereby increasing the areas of the suspended portions 103 of the first circuit board 127 and the second circuit board 128, and thus improving the heat dissipation effect.

[0055] In some embodiments, referring to Figure 6, the first convex unit 1101 extends leftward from the upper part of the left side portion 1110. The first fixing portion 1271 is connected to the first outer side portion 1192. The suspended portion 103 of the first circuit board 127 is located below the first fixing portion 1271 and is spaced from the lower part of the left side portion 1110. At this time, there is a hollow portion 1104 between the first circuit board 127 and the main unit 119. When the bracket 110 rotates, air can flow through the hollow portion 1104, thereby ensuring that the first circuit board 127 can disturb the air and improve the heat exchange efficiency. The second convex unit 1102 extends rightward from the lower part of the right side portion 1111. The second fixing portion 1281 is connected to the second outer side portion 1194. The suspended portion 103 of the second circuit board 128 is located above the first fixing portion 1271 and is spaced from the upper part of the left side portion 1110. At this time, there is a hollow portion 1104 between the second circuit board 128 and the main unit 119. When the bracket 110 rotates, air can flow through the hollow portion 1104, thereby ensuring that both sides of the suspended portion 103 of the second circuit board 128 can contact the air and disturb the air, improving the heat exchange efficiency. Moreover, the first convex unit 1101 and the second convex unit 1102 are arranged back to back left and right based on the main unit 119, and the first circuit board 127 and the second circuit board 128 are even arranged back to back left and right based on the overall bracket 110 including the main unit 119, the first convex unit 1101 and the second convex unit 1102. That is to say, the distance between the first circuit board 127 and the second circuit board 128 is maximized as much as possible, avoiding local overheating and being beneficial to improving the heat dissipation efficiency.

[0056] It can be understood that the left and right positions of the first convex unit 1101 and the second convex unit 1102 can be interchanged. Specifically, in some other embodiments, the first convex unit 1101 extends rightward from the upper part of the right side portion 1111. The first fixing portion 1271 is connected to the first outer side portion 1192 of the first convex unit 1101. The suspended portion 103 of the first circuit board 127 is located below the first fixing portion 1271 and is spaced from the lower part of the right side portion 1111. The second convex unit 1102 extends leftward from the lower part of the left side portion 1110. The second fixing portion 1281 is connected to the first outer side portion 1192 of the second convex unit 1102. The suspended portion 103 of the second circuit board 128 is located above the second fixing portion 1281 and is spaced from the upper part of the left side portion 1110. Similarly, the up and down positions of the first convex unit 1101 and the second convex unit 1102 can also be interchanged.

[0057] It can be understood that there are four choices for the connection position of the first outward convex unit 1101: it can be connected to the left side 1110, the right side 1111, the upper side 1106, and the rear side 1109 respectively, and extends in a direction away from the main unit 119 to form. Corresponding to the connection position of the first outward convex unit 1101 at the above positions, the second outward convex unit 1102 also has four choices for connection positions: namely, the right side 1111, the left side 1110, the rear side 1109, and the upper side 1106, or more combinations; since both the emission channel and the reception channel are provided in the bracket 110, when the emission channel and the reception channel are arranged along the height direction of the bracket 110, one of the first outward convex unit 1101 and the second outward convex unit 1102 is located in the upper part of the side of the bracket 110, and the other is located in the lower part of the side of the bracket 110. On the other hand, the first circuit board 127 can be installed on the first outer side 1192 or the first side 1191, and at the same time, the suspended part 103 of the first circuit board 127 can extend above or below the first outward convex unit 1101; the second circuit board 128 can be installed on the outer ear outer side or the second side 1193, and correspondingly, the second circuit board 128 can extend below or above the second outward convex unit 1102.

[0058] Referring to Figure 6 and Figure 7 , a transmitting lens 115 is provided in the first emission channel 111, and a receiving lens 116 is provided in the first reception channel 113. The light beam passes through the transmitting lens 115 and emits to the outside from the first emission channel 111, and the light beam reflected from the outside passes through the receiving lens 116 and enters the first reception channel 113. It can be understood that the transmitting lens 115 can convert the light beam emitted by the transmitter 122 into parallel light, and the receiving lens 116 can focus the light beam entering from the outside into the receiver 123.

[0059] Further, referring to Figure 8 and Figure 9 , the first emission channel 111 is provided in the main unit 119, the second emission channel 112 is provided in the first outward convex unit 1101, the first emission channel 111 is communicated with the second emission channel 112 and there is an included angle between them, and the light beam is emitted from the first emission channel 111 through the second emission channel 112 to the outside by providing a first reflecting mirror 117 between the first emission channel 111 and the second emission channel 112. Further, the first reception channel 113 is provided in the main unit 119, the second reception channel 114 is provided in the second outward convex unit 1102, the first reception channel 113 is communicated with the second reception channel 114 and there is an included angle between them, and the light beam enters the first reception channel 113 from the outside through the second reception channel 114 and reaches the receiver 123 by providing a second reflecting mirror 118 between the first reception channel 113 and the second reception channel 114.

[0060] In some other embodiments, referring to Figures 1 to 4 , there is at least one circuit board, and both the transmitting region 105 and the receiving region 106 can be disposed on one circuit board.

[0061] Furthermore, a control unit is provided on the suspension portion 103. The control unit is configured to control the transmitter 122 to emit the light beam and process the receiver 123 to receive the light beam, or one of the two functions. It should be noted that the control unit generally belongs to one of the components with relatively high heat generation among the multiple electronic components in the circuit board. Therefore, setting the control unit on the suspension portion 103 suspended on both sides is beneficial to improving the heat dissipation effect of the control unit.

[0062] On the other hand, a heat dissipation unit can be provided on the suspension portion 103. During the rotation of the bracket 110, the heat dissipation unit can follow the suspension portion 103 to disturb the air, thereby increasing the contact with the air, which is beneficial to accelerating the heat dissipation of the suspension portion 103.

[0063] According to an embodiment of the second aspect of the present invention, a mobile robot is provided, including the above-mentioned optical ranging device. Among them, a driver 120 is further included. Referring to Figure 10 , the driver 120 is disposed on the base 100. The driver 120 includes a motor, and the motor drives the bracket 110 to rotate around the rotation axis 1105 to realize the detection of the external surroundings.

[0064] The above has described the embodiments of the present invention in detail with reference to the drawings. However, the present invention is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art to which the present invention pertains, various changes can be made without departing from the gist of the present invention.

Claims

1. An optical ranging device, characterized in that, Comprising: Base; Bracket, which is rotatably mounted on the base; Circuit board, the circuit board includes a fixed part and a suspended part, the fixed part is fixedly mounted on the bracket, both sides of the suspended part are suspended and parallel to the rotation axis of the bracket, and when the bracket rotates, the suspended part can disturb the air to achieve a heat dissipation function.

2. An optical ranging device according to claim 1, characterized in that, The fixed part and the suspended part are parallel to the rotation axis, the suspended part is provided with blades extending outward in a direction perpendicular to the rotation axis, and along a direction perpendicular to the circuit board, the blades are arranged offset from the rotation axis.

3. An optical ranging device according to claim 1, characterized in that, A first emission channel and a first reception channel are provided in the bracket, the fixed part is provided with an emission area and a reception area, a transmitter for emitting a light beam is provided on the emission area, the transmitter is correspondingly arranged with the entrance end of the first emission channel, and the transmitter can emit the light beam to the outside through the first emission channel; a receiver for receiving the light beam is provided on the reception area, the receiver is correspondingly arranged with the exit end of the first reception channel, and the receiver can receive the light beam reflected from the outside through the first reception channel.

4. An optical ranging device according to claim 3, wherein There is at least one circuit board, and both the emission area and the reception area are provided on one circuit board.

5. An optical ranging device according to claim 3, wherein The circuit board includes a first circuit board and a second circuit board; The fixed part includes a first fixed part and a second fixed part, the first fixed part is a part of the first circuit board and the first fixed part is provided with the emission area, the second fixed part is a part of the second circuit board and the second fixed part is provided with the reception area; The bracket includes a main unit, the main unit includes a plurality of side parts, the side parts include a first side part and a second side part, the first fixed part is fixedly connected to the first side part, and the second fixed part is fixedly connected to the second side part.

6. An optical ranging device according to claim 5, characterized in that, The first fixed part is perpendicularly arranged with the first emission channel; or, the first fixed part is parallelly arranged with the first emission channel and a first reflector is provided between the emission area and the first emission channel; or, the bracket further includes a second emission channel, the second emission channel is communicated with the entrance end of the first emission channel and a first reflector is provided between the second emission channel and the first emission channel, the second emission channel is correspondingly arranged with the transmitter and the second emission channel is located between the first emission channel and the first fixed part in the propagation direction of the light beam; The second fixed part is perpendicularly arranged with the first reception channel; or, the second fixed part is parallelly arranged with the first reception channel and a second reflector is provided between the reception area and the first reception channel; or, the bracket further includes a second reception channel, the second reception channel is communicated with the exit end of the first reception channel and a second reflector is provided between the second reception channel and the first reception channel, the second reception channel is correspondingly arranged with the receiver and the second reception channel is located between the first reception channel and the second fixed part in the propagation direction of the light beam.

7. An optical ranging device according to claim 5, characterized in that, The multiple side portions of the main unit include an upper side portion, a lower side portion, a front side portion, a rear side portion, a left side portion, and a right side portion. The lower side portion is used for rotatably connecting with the base, and the front side portion is used for forming an outlet end of the first emission channel and an inlet end of the first reception channel; The first side portion is one of the upper side portion, the rear side portion, the left side portion, and the right side portion, and the second side portion is one different from the first side portion among the upper side portion, the rear side portion, the left side portion, and the right side portion; or, the first side portion and the second side portion are different parts of one of the upper side portion, the rear side portion, the left side portion, and the right side portion.

8. An optical ranging device according to claim 7, wherein, The bracket further includes a first outward convex unit and a second outward convex unit. The first outward convex unit extends away from the main unit from a part of the first side portion, and the second outward convex unit extends away from the main unit from a part of the second side portion; The first outward convex unit includes a first side portion adjacent to the main unit and a first outer side portion. The first side portion adjacent to the main unit is connected to the first side portion, and the first outer side portion faces away from the main unit. The first fixing portion is connected to the first side portion adjacent to the main unit or the first outer side portion, and the suspended portion of the first circuit board extends away from the first fixing portion in a direction away from the first outward convex unit; The second outward convex unit includes a second side portion adjacent to the main unit and a second outer side portion. The second side portion adjacent to the main unit is connected to the second side portion, and the second outer side portion faces away from the main unit. The second fixing portion is connected to the second side portion adjacent to the main unit or the second outer side portion, and the suspended portion of the second circuit board extends away from the second fixing portion in a direction away from the second outward convex unit.

9. An optical ranging device according to claim 8, characterized in that, The first outward convex unit extends leftward from a lower part of the left side portion, the first fixing portion is connected to the first outer side portion of the first outward convex unit, and the suspended portion of the first circuit board is located above the first fixing portion and is spaced apart from an upper part of the left side portion; the second outward convex unit extends rightward from an upper part of the right side portion, the second fixing portion is connected to the second outer side portion of the second outward convex unit, and the suspended portion of the second circuit board is located below the second fixing portion and is spaced apart from a lower part of the right side portion; Or, The first outward convex unit extends leftward from an upper part of the left side portion, the first fixing portion is connected to the first outer side portion, and the suspended portion of the first circuit board is located below the first fixing portion and is spaced apart from a lower part of the left side portion; the second outward convex unit extends rightward from a lower part of the right side portion, the second fixing portion is connected to the second outer side portion, and the suspended portion of the second circuit board is located above the first fixing portion and is spaced apart from an upper part of the left side portion.

10. An optical ranging device according to claim 8, wherein, The bracket further includes a second emission channel, which communicates with the inlet end of the first emission channel, and a first reflector is provided between the second emission channel and the first emission channel. The second emission channel is correspondingly arranged with the emitter, and in the propagation direction of the light beam, the second emission channel is located between the first emission channel and the first fixing portion. Wherein, the first emission channel is arranged in the main unit, and the second emission channel is arranged in the first convex unit; And / or, the bracket further includes a second receiving channel, which communicates with the outlet end of the first receiving channel and a second reflector is provided between the second receiving channel and the first receiving channel. The second receiving channel is correspondingly arranged with the receiver and the second receiving channel is located between the first receiving channel and the second fixing portion in the propagation direction of the light beam. Wherein, the first receiving channel is arranged in the main unit, and the second receiving channel is arranged in the second convex unit.

11. An optical ranging device according to claim 3, characterized in that, An emission lens is provided in the first emission channel, and a receiving lens is provided in the first receiving channel. The light beam passes through the emission lens and exits the outside from the first emission channel, and the light beam reflected from the outside passes through the receiving lens and enters the first receiving channel.

12. An optical ranging device according to claim 3, characterized in that, A control unit is provided on the suspension portion, and the control unit is used to control the emitter to emit the light beam and / or process the receiver to receive the light beam; And / or, A heat dissipation unit is provided on the suspension portion, and the heat dissipation unit is used to accelerate the heat dissipation of the suspension portion.

13. Mobile robot, characterized in that, An optical ranging device according to any one of claims 1 to 11, further comprising a driver, wherein the driver is provided on the base and can drive the bracket to rotate around the rotation axis.

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