Optical device and mobile robot

Abstract

The utility model discloses an optical device and a mobile robot, and relates to the technical field of optical ranging, the optical device comprises a base body, a first transmitting channel, a first reflecting part and a second reflecting part are arranged in the base body, and the first reflecting part and the second reflecting part are separately arranged and fixed on the base body. Therefore, the first reflection part and the second reflection part can be installed at different positions respectively, one emergent light beam is independently adjusted when the installation position of the light splitting structure is adjusted in the production process, the adjustment operation is simplified, and the production efficiency is improved. The mobile robot comprises the optical device and further comprises a robot body, the optical device is arranged on the robot body, and the optical device is used for detecting the distance between the mobile robot and an external object or detecting whether the external object exists in a preset distance range of the mobile robot or not.

Description

Technical Field

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

[0002] In related technologies, lidar is a radar system that detects the position, speed and other characteristic quantities of a target by emitting laser beams, and can obtain parameters such as the distance, azimuth, altitude, speed, attitude, and even shape of the target. The current single-transmission and double-reception multi-line lidar has one emission light source and two reception modules, and realizes scanning at different angles through a beam splitting structure. It is difficult to ensure that the scanning at multiple different angles all meets the focal length requirements of the collimating lens, resulting in a more cumbersome focusing operation during the production process and affecting the production efficiency. 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 device and a mobile robot, which can independently adjust the first reflection part and the second reflection part for beam splitting on the emission optical path respectively during the production adjustment process, and realize a convenient and flexible focusing operation.

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

[0005] A base body, in which a first emission channel, a first reflection part and a second reflection part are provided. The first reflection part and the second reflection part are separately arranged and fixed on the base body;

[0006] A first emission lens and a second emission lens, both of which are fixed on the base body. The first emission lens is correspondingly arranged with the first reflection part, and the second emission lens is correspondingly arranged with the second reflection part;

[0007] A transmitter, a part of the beam emitted by the transmitter passes through the first emission channel, the first reflection surface of the first reflection part and the first emission lens and then shoots out into the outside along a first direction, and another part of the beam emitted by the transmitter passes through the first emission channel, the second reflection surface of the second reflection part and the second emission lens and then shoots out into the outside along a second direction.

[0008] An optical device according to an embodiment of the first aspect of the utility model has at least the following beneficial effects: In this embodiment, a base body is provided, in which a first emission channel, a first reflection part and a second reflection part are provided. The first reflection part and the second reflection part are separately arranged and fixed on the base body, so that the first reflection part and the second reflection part can be respectively installed at different positions, and a single outgoing beam can be adjusted separately when adjusting the installation position of the beam splitting structure during the production process, simplifying the adjustment operation and improving the production efficiency.

[0009] According to an embodiment of the first aspect of the present utility model, the first reflecting portion and the second reflecting portion are cooperated through a first position adjusting structure, and the extending direction of the first position adjusting structure is not parallel to both the first reflecting surface and the second reflecting surface; and / or, the first reflecting portion and the base body are cooperated through a second position adjusting structure, and the extending direction of the second position adjusting structure is not parallel to the first reflecting surface; and / or, the second reflecting portion and the base body are cooperated through a third position adjusting structure, and the extending direction of the third position adjusting structure is not parallel to the second reflecting surface.

[0010] According to an embodiment of the first aspect of the present utility model, when the first reflecting portion and the second reflecting portion are cooperated through the first position adjusting structure, the first position adjusting structure includes two mutually cooperating guiding surfaces, one guiding surface is disposed on the first reflecting portion, and the other guiding surface is disposed on the second reflecting portion. The extending direction of the cooperating portion of the two guiding surfaces of the first position adjusting structure is the extending direction of the first position adjusting structure. Alternatively, the first position adjusting structure includes a mutually cooperating first guiding groove and a first guiding rib, and any one of the first guiding groove and the first guiding rib is disposed on the first reflecting portion, and the other is disposed on the second reflecting portion. The extending direction of the first guiding groove and the extending direction of the first guiding rib are the same and are both the extending direction of the first position adjusting structure. When the first reflecting portion and the base body are cooperated through the second position adjusting structure, the second position adjusting structure includes two mutually cooperating guiding surfaces, one of the guiding surfaces is disposed on the first reflecting portion, and the other guiding surface is disposed on the base body. The extending direction of the cooperating portion of the two guiding surfaces of the second position adjusting structure is the extending direction of the second position adjusting structure. Alternatively, the second position adjusting structure includes a mutually cooperating second guiding groove and a second guiding rib, and any one of the second guiding groove and the second guiding rib is disposed on the first reflecting portion, and the other is disposed on the base body. The extending direction of the second guiding groove and the extending direction of the second guiding rib are the same and are both the extending direction of the second position adjusting structure. When the second reflecting portion and the base body are cooperated through the third position adjusting structure, the third position adjusting structure includes two mutually cooperating guiding surfaces, one guiding surface is disposed on the second reflecting portion, and the other guiding surface is disposed on the base body. The extending direction of the cooperating portion of the two guiding surfaces of the third position adjusting structure is the extending direction of the third position adjusting structure. Alternatively, the third position adjusting structure includes a mutually cooperating third guiding groove and a third guiding rib, and any one of the third guiding groove and the third guiding rib is disposed on the second reflecting portion, and the other is disposed on the base body. The extending direction of the third guiding groove and the extending direction of the third guiding rib are the same and are both the extending direction of the third position adjusting structure.

[0011] According to an embodiment of the first aspect of the present utility model, when the first reflecting portion and the second reflecting portion are cooperated through the first position adjusting structure, the extending direction of the first position adjusting structure is parallel to the light beam emitting direction of the emitter; when the first reflecting portion and the base body are cooperated through the second position adjusting structure, the extending direction of the second position adjusting structure is parallel to the light beam emitting direction of the emitter; when the second reflecting portion and the base body are cooperated through the third position adjusting structure, the extending direction of the third position adjusting structure is parallel to the light beam emitting direction of the emitter.

[0012] According to an embodiment of the first aspect of the present utility model, the included angle between the first direction and the horizontal plane of the calibration coordinate system is the first included angle, and the included angle between the second direction and the horizontal plane of the calibration coordinate system is the second included angle. Taking the angle formed by the direction obliquely upward relative to the horizontal plane of the calibration coordinate system and the horizontal plane of the calibration coordinate system as positive, the first included angle is not equal to the second included angle.

[0013] According to an embodiment of the first aspect of the present utility model, the first included angle is 0 to 1°, and the second included angle is -1° to -60°.

[0014] According to an embodiment of the first aspect of the present utility model, the included angle between the first reflecting surface and the light beam emitting direction of the emitter is the third included angle, and the included angle between the second reflecting surface and the light beam emitting direction of the emitter is the fourth included angle. The third included angle is not equal to the fourth included angle.

[0015] According to an embodiment of the first aspect of the present utility model, the first reflecting surface and the second reflecting surface are arranged back to back.

[0016] According to an embodiment of the first aspect of the present utility model, a second emission channel and a third emission channel are further arranged in the base body. The second emission channel is communicated with the first emission channel, and a first reflecting portion is arranged between the second emission channel and the first emission channel. A first emission lens is arranged in the second emission channel. The light beam passing through the first reflecting surface passes through the first emission lens and is emitted to the outside along the first direction. The third emission channel is communicated with the first emission channel, and a second reflecting portion is arranged between the third emission channel and the first emission channel. A second emission lens is arranged in the third emission channel. The light beam passing through the second reflecting surface passes through the second emission lens and is emitted to the outside along the second direction.

[0017] According to an embodiment of the first aspect of the present utility model, the horizontal plane of the calibration coordinate system is perpendicular to the light beam emitting direction of the emitter, and / or the extending direction of the first emission channel is the light beam emitting direction of the emitter, and / or the extending direction of the second emission channel is the first direction, and / or the extending direction of the third emission channel is the second direction.

[0018] According to an embodiment of the first aspect of the present utility model, a first receiving channel, a second receiving channel, a first receiver, a second receiver, a first receiving lens, and a second receiving lens are provided inside the base body. A third reflecting portion is provided at the inlet end of the first receiving channel. The third reflecting portion is fixed to the base body and corresponds to the first receiving lens. The light beam reflected from the outside enters the first receiving channel and reaches the first receiver after passing through the first receiving lens and the third reflecting surface of the third reflecting portion. A fourth reflecting portion is provided at the inlet end of the second receiving channel. The fourth reflecting portion is fixed to the base body and corresponds to the second receiving lens. The light beam reflected from the outside enters the second receiving channel and reaches the second receiver after passing through the second receiving lens and the fourth reflecting surface of the fourth reflecting portion.

[0019] According to an embodiment of the first aspect of the present utility model, the third reflecting portion and the base body are cooperatively engaged through a fourth position adjusting structure, and the extending direction of the fourth position adjusting structure is not parallel to the third reflecting surface; and / or, the fourth reflecting portion and the base body are cooperatively engaged through a fifth position adjusting structure, and the extending direction of the fifth position adjusting structure is not parallel to the fourth reflecting surface.

[0020] According to an embodiment of the first aspect of the present utility model, when the third reflecting portion and the base body are cooperatively engaged through a fourth position adjusting structure, the fourth position adjusting structure includes two cooperatively engaged guiding surfaces. One guiding surface is provided on the third reflecting portion, and the other guiding surface is provided on the base body. The extending direction of the engaging portion of the two guiding surfaces of the fourth position adjusting structure is the extending direction of the fourth position adjusting structure; or, the fourth position adjusting structure includes a fourth guiding groove and a fourth guiding rib that are cooperatively engaged. One of the fourth guiding groove and the fourth guiding rib is provided on the third reflecting portion, and the other is provided on the base body. The extending directions of the fourth guiding groove and the fourth guiding rib are the same and are both the extending direction of the fourth position adjusting structure;

[0021] When the fourth reflecting portion and the base body are cooperatively engaged through a fifth position adjusting structure, the fifth position adjusting structure includes two cooperatively engaged guiding surfaces. One guiding surface is provided on the fourth reflecting portion, and the other guiding surface is provided on the base body. The extending direction of the engaging portion of the two guiding surfaces of the fifth position adjusting structure is the extending direction of the fifth position adjusting structure; or, the fifth position adjusting structure includes a fifth guiding groove and a fifth guiding rib that are cooperatively engaged. One of the fifth guiding groove and the fifth guiding rib is provided on the fourth reflecting portion, and the other of the fifth guiding groove and the fifth guiding rib is provided on the base body. The extending directions of the fifth guiding groove and the fifth guiding rib are the same and are both the extending direction of the fifth position adjusting structure.

[0022] According to an embodiment of the first aspect of the present utility model, when the third reflecting portion and the base body are cooperated through the fourth position adjusting structure, the extending direction of the fourth position adjusting structure is parallel to the extending direction of the first receiving channel; when the fourth reflecting portion and the base body are cooperated through the fifth position adjusting structure, the extending direction of the fifth position adjusting structure is parallel to the extending direction of the second receiving channel.

[0023] According to an embodiment of the first aspect of the present utility model, a third receiving channel and a fourth receiving channel are further provided in the base body. The third receiving channel is communicated with the first receiving channel, and a third reflecting portion is provided between the third receiving channel and the first receiving channel. The light beam reflected by the outside enters the first receiving channel after passing through the first receiving lens, the third receiving channel, and the third reflecting surface of the third reflecting portion; the fourth receiving channel is communicated with the second receiving channel, and a fourth reflecting portion is provided between the fourth receiving channel and the second receiving channel. The light beam reflected by the outside enters the second receiving channel after passing through the second receiving lens, the fourth receiving channel, and the fourth reflecting surface of the fourth reflecting portion.

[0024] According to an embodiment of the first aspect of the present utility model, the horizontal plane of the calibration coordinate system is perpendicular to the extending direction of the first receiving channel, and / or the horizontal plane of the calibration coordinate system is perpendicular to the extending direction of the second receiving channel, and / or the extending direction of the third receiving channel is parallel to the first direction, and / or the extending direction of the fourth receiving channel is parallel to the second direction.

[0025] According to an embodiment of the first aspect of the present utility model, the plane where the first direction and the light beam emitting direction of the emitter are located is the first plane, the plane where the second direction and the light beam emitting direction of the emitter are located is the second plane, the first plane and the second plane jointly define the emitting surface, the first receiving channel and the second receiving channel are respectively located on both sides or the same side of the emitting surface, and the first plane and the second plane are arranged coplanarly or at an angle.

[0026] According to an embodiment of the first aspect of the present utility model, a driver is further included, and the driver is used to drive the base body to rotate around a direction perpendicular to the horizontal plane of the calibration coordinate system.

[0027] According to an embodiment of the second aspect of the present utility model, a mobile robot is provided, including the foregoing optical device. Among them, a robot body is further included, and the optical device is arranged on the robot body, and the optical device is used to detect the distance between the mobile robot and an external object or detect whether there is an external object within a preset distance range of the mobile robot.

[0028] A mobile robot according to an embodiment of the second aspect of the present utility model has at least the following beneficial effects:

[0029] Compared with the prior art, an optical device and a mobile robot are provided with a first reflecting portion and a second reflecting portion which are separately installed in the emission optical path. By using the separately arranged first reflecting portion and second reflecting portion to split the light beam emitted by the emitter, the two emission optical paths after splitting can be adjusted independently and without mutual influence during the production process, so as to be respectively adapted to the focal lengths of the first emission lens and the second emission lens, simplify the focusing operation, and improve the production efficiency.

[0030] Additional aspects and advantages of the present utility model will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The following further describes the present utility model in conjunction with the drawings and embodiments, where:

[0032] Figure 1 is an axonometric view of an optical device in an embodiment of the first aspect of the present utility model;

[0033] Figure 2 is a first cross-sectional view of an optical device in an embodiment of the first aspect of the present utility model;

[0034] Figure 3 is a cross-sectional view of the emission optical path in an embodiment of the first aspect of the present utility model;

[0035] Figure 4 is a second cross-sectional view of an optical device in an embodiment of the first aspect of the present utility model;

[0036] Figure 5 is a schematic diagram of the cooperation of the first reflecting portion, the second reflecting portion and the base in an embodiment of the first aspect of the present utility model;

[0037] Figure 6 is an axonometric view of the base in an embodiment of the first aspect of the present utility model;

[0038] Figure 7 is Figure 6 an enlarged view of A in;

[0039] Figure 8 is Figure 1 an enlarged view of B in;

[0040] Figure 9 is a cross-sectional view of the first receiving channel and the third receiving channel in an embodiment of the first aspect of the present utility model;

[0041] Figure 10 is a cross-sectional view of the second receiving channel and the fourth receiving channel in an embodiment of the first aspect of the present utility model;

[0042] Figure 11 An isometric view of the first receiving channel and the second receiving channel on the same side of the first transmitting channel in the embodiment of the first aspect of the present utility model;

[0043] Figure 12 is Figure 10 a cross-sectional view of the first receiving channel and the second receiving channel in

[0044] Reference numerals:

[0045] Optical device 10;

[0046] Substrate 100; circuit board 101; transmitter 102; first receiver 103; second receiver 104; first plane 105; second plane 106; guiding surface 107;

[0047] First transmitting channel 111; first transmitting lens 1111; second transmitting channel 112; second transmitting lens 1121; first direction 1122; third transmitting channel 113; second direction 1131; first reflecting portion 114; first reflecting surface 1141; first guiding groove 1142; second guiding groove 1143; second guiding rib 1144; second reflecting portion 115; second reflecting surface 1151; first guiding rib 1152; third guiding groove 1153; third guiding rib 1154;

[0048] First receiving channel 121; second receiving channel 122; third receiving channel 123; fourth receiving channel 124; third reflecting portion 125; third reflecting surface 1251; fourth guiding groove 1252; fourth guiding rib 1253; fourth reflecting portion 126; fourth reflecting surface 1261; fifth guiding groove 1262; fifth guiding rib 1263; first receiving lens 127; second receiving lens 128. Detailed implementation manners

[0049] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having 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 utility model and should not be construed as a limitation to the present utility model.

[0050] In the description of the present utility model, 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 utility model 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 utility model.

[0051] In the description of the present utility model, the meaning of several is one or more, the meaning of a plurality is more than two, and understandings such as greater than, less than, exceeding, etc. do not include the corresponding number, and understandings such as above, below, within, etc. include the corresponding number. If the first and second are described, they are only used for the purpose of distinguishing technical features, and cannot 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.

[0052] In the description of the present utility model, unless otherwise clearly defined, terms such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present utility model in combination with the specific content of the technical solution.

[0053] In the related art, a lidar is a radar system that detects the position, speed and other characteristic quantities of a target by emitting laser beams, and can obtain parameters such as the distance, azimuth, height, speed, attitude, and even shape of the target. The current single-transmitter dual-receiver multi-line lidar has one emission light source and two receiving modules, and realizes scanning at different angles through a beam splitting structure. It is difficult to ensure that the scanning at multiple different angles all meets the focal length requirements of the collimating lens, resulting in a cumbersome focusing operation during the production process and affecting the production efficiency.

[0054] At the same time, the inventors of the present application analyzed the prior art and found that the beam splitting structure is generally a beam splitting prism, a semi-transmissive semi-reflective mirror, a conical reflecting surface structure, a double reflecting surface structure, etc. Since the above beam splitting structures are all integral, the relative directions between the multiple outgoing light beams split after the light beam emitted by the emitter passes through the above beam splitting structure are fixed. When adjusting the above beam splitting structure, at least two of the outgoing directions after beam splitting cannot be adjusted separately and can only be adjusted synchronously (refer to prism 120 in Chinese invention patent CN116009002A). Even if structures for adjusting the optical path are separately provided on different optical paths after beam splitting (such as a reflecting mirror, refer to the first semi-transmissive semi-reflective lens 121 for beam splitting and the second lens 122 for reflecting light in Chinese invention patent CN116009009A), it will also make the adjustment tolerance chain on these optical paths (that is, the position tolerance of the beam splitting structure plus the position tolerance of the reflecting mirror) become complicated, increasing the focusing difficulty during the production and manufacturing process.

[0055] To solve the above problems, referring to Figure 1 and Figure 3, in an embodiment of the first aspect of the present utility model, an optical device 10 is provided, including a base body 100, a first emission lens 1111, a second emission lens 1121, and a transmitter 102. A first emission channel 111, a first reflection portion 114, and a second reflection portion 115 are provided in the base body 100. The first reflection portion 114 and the second reflection portion 115 are separately arranged and fixed on the base body 100. The first emission lens 1111 and the second emission lens 1121 are both fixed on the base body 100. The first emission lens 1111 is correspondingly arranged with the first reflection portion 114, and the second emission lens 1121 is correspondingly arranged with the second reflection portion 115. The transmitter 102 is used to emit a light beam. A part of the light beam emitted by the transmitter 102 passes through the first emission channel 111, the first reflection surface 1141 of the first reflection portion 114, and the first emission lens 1111 and then is emitted to the outside along the first direction 1122. Another part of the light beam emitted by the transmitter 102 passes through the first emission channel 111, the second reflection surface 1151 of the second reflection portion 115, and the second emission lens 1121 and then is emitted to the outside along the second direction 1131. That is to say, a part of the light beam emitted by the transmitter 102 is separated and emitted towards the first direction 1122 after being reflected by the first reflection surface 1141 of the first reflection portion 114, and a part of the light beam emitted by the transmitter 102 is separated and emitted towards the second direction 1131 after being reflected by the first reflection surface 1141 of the second reflection portion 115. It can be understood that the first direction 1122 and the second direction 1131 do not overlap. By emitting light beams in different directions, it is possible to detect whether there are objects in different directions outside or measure the distance between an external object and the optical device 10.

[0056] It should be noted that in the optical device 10 provided in the embodiment of the present application, a calibration coordinate system with mutually orthogonal XYZ axes is defined. The horizontal plane of the calibration coordinate system is defined by the XY axes, and the Z axis is perpendicular to the horizontal plane of the calibration coordinate system. It can be understood that when the optical device 10 or the mobile robot on which the optical device 10 is installed is parked or traveling on a horizontal ground, the horizontal plane of the calibration coordinate system is parallel to the horizontal ground. When the optical device 10 or the mobile robot on which the optical device 10 is installed is placed or traveling on an inclined ground, the horizontal plane of the calibration coordinate system is parallel to the inclined ground. In the present application, the angle formed by the direction obliquely upward relative to the horizontal plane of the calibration coordinate system and the horizontal plane of the calibration coordinate system is positive. That is to say, the angle formed by the direction obliquely downward relative to the horizontal plane of the calibration coordinate system and the horizontal plane of the calibration coordinate system is negative.

[0057] It can be understood that the first reflecting portion 114 and the second reflecting portion 115 are separately provided instead of being integrally formed. During the production and debugging process, that is, before being debugged and fixed to the base body 100, the installation positions can be adjusted independently and without affecting each other within the base body 100. Thus, the lengths of the emission optical paths that respectively pass through the first reflecting surface 1141 and reach the first emission lens 1111 and the lengths of the emission optical paths that pass through the second reflecting surface 1151 and reach the second emission lens 1121 can be adjusted independently and without affecting each other, so as to respectively adapt to the focal lengths of the first emission lens 1111 and the second emission lens 1121, thereby realizing the focusing function. After the focusing is completed, the first reflecting portion 114 and the second reflecting portion 115 can be fixed to the base body 100, for example, by means of bolt connection, welding, gluing, etc.

[0058] Further, the first reflecting portion 114 and the second reflecting portion 115 are cooperated through a first position adjusting structure, and the extending direction of the first position adjusting structure is not parallel to both the first reflecting surface 1141 and the second reflecting surface 1151. During the production adjustment process, before being debugged and fixed to the base body 100, a first clamping fixture can be used to clamp and fix the first reflecting portion 114, and another clamping fixture can be used to clamp and adjust the position of the second reflecting portion 115, or a second clamping fixture can be used to clamp and fix the second reflecting portion 115, and another clamping fixture can be used to clamp and adjust the position of the first reflecting portion 114. The specific adjusting direction is guided by the extending direction of the first position adjusting structure cooperated between the first reflecting portion 114 and the second reflecting portion 115, thereby improving the convenience and accuracy during the adjustment process. The extending direction of the first position adjusting structure is not parallel to both the first reflecting surface 1141 and the second reflecting surface 1151, ensuring that the position adjustment of the first reflecting portion 114 and the second reflecting portion 115 can affect the focal point landing positions of the first emitting lens 1111 and the second emitting lens 1121. It can be understood that if the extending direction of the first position adjusting structure is parallel to the first reflecting surface 1141 or the second reflecting surface 1151, the position adjustment of the first reflecting portion 114 and the second reflecting portion 115 cannot affect the focal point landing positions of the first emitting lens 1111 and the second emitting lens 1121. Specifically, in some embodiments, when the first reflecting portion 114 and the second reflecting portion 115 are cooperated through the first position adjusting structure, the extending direction of the first position adjusting structure is parallel to the light beam emitting direction of the emitter 102. Thus, when installing and adjusting the base body 100, the emitter 102, the first reflecting portion 114 and the second reflecting portion 115 based on the extending direction of the first position adjusting structure and the light beam emitting direction of the emitter 102, the consistency of the clamping direction and the moving direction of the relevant clamping fixtures is ensured, thereby optimizing the structural design of the optical device 10 and reducing the manufacturing difficulty of the optical device 10. In other embodiments, the extending direction of the first position adjusting structure can also be perpendicular to the light beam emitting direction of the emitter 102.

[0059] In some embodiments, referring to Figure 5, the first position adjustment structure includes two cooperating guiding surfaces 107a. One guiding surface 107a is disposed on the first reflecting portion 114, and the other guiding surface 107a is disposed on the second reflecting portion 115. The extending direction of the mating portion of the two guiding surfaces 107a of the first position adjustment structure is the extending direction of the first position adjustment structure. It can be understood that the mating portion of the two guiding surfaces 107a can be a curved surface, a flat surface, a combination of curved surfaces, a combination of flat surfaces, or a combination of a flat surface and a curved surface. Specifically, the guiding surface 107a as a curved surface is formed by translating a curve segment along a specific direction, and the guiding surface 107a as a flat surface is formed by translating a straight line segment along a specific direction. This specific direction is the extending direction of the mating portion of the two guiding surfaces 107a, and also the extending direction of the first position adjustment structure. Specifically, the curve segment forming the curved surface can be an arc segment, a conic curve segment (ellipse, parabola, hyperbola), a trigonometric function segment, a wavy segment, or even an arbitrary irregular curve segment. Through the mutual cooperation of the two guiding surfaces 107a, the adjustment direction of the first reflecting portion 114 and the second reflecting portion 115 during the production adjustment is guided.

[0060] In some other embodiments, referring to Figure 5 , the first position adjustment structure includes a first guiding groove 1142 and a first guiding rib 1152 that cooperate with each other. Either the first guiding groove 1142 or the first guiding rib 1152 is disposed on the first reflecting portion 114, and the other is disposed on the second reflecting portion 115. The extending direction of the first guiding groove 1142 and the extending direction of the first guiding rib 1152 are the same and are both the extending direction of the first position adjustment structure. Referring to Figure 5 , in this embodiment, the first guiding groove 1142 is located on the second reflecting portion 115, and the first guiding rib 1152 is located on the first reflecting portion 114. Through the mutual cooperation of the first guiding rib 1152 and the first guiding groove 1142, the direction adjustment of the first reflecting portion 114 and the second reflecting portion 115 during the production process is guided. It should be noted that the mating surface between the first guiding groove 1142 and the first guiding rib 1152 can also be understood as the two guiding surfaces 107a.

[0061] In some embodiments, the first reflecting portion 114 and the base 100 are cooperated through a second position adjusting structure, and the extending direction of the second position adjusting structure is not parallel to the first reflecting surface 1141. During the production adjustment process, before the debugging is completed and fixed to the base 100, a jig can be used to clamp and fix the base 100, and another jig can be used to clamp the first reflecting portion 114 and adjust its position. The specific adjustment direction is guided by the extending direction of the second position adjusting structure cooperated between the first reflecting portion 114 and the base 100, thereby improving the convenience and accuracy during the adjustment process. Since the extending direction of the second position adjusting structure is not parallel to the first reflecting surface 1141, it is ensured that the position adjustment of the first reflecting portion 114 can affect the focal point landing position of the first emitting lens 1111. It can be understood that if the extending direction of the first position adjusting structure is parallel to the first reflecting surface 1141, the position adjustment of the first reflecting portion 114 cannot affect the focal point landing position of the first emitting lens 1111. Specifically, in some embodiments, when the first reflecting portion 114 and the base 100 are cooperated through the second position adjusting structure, the extending direction of the second position adjusting structure is parallel to the light beam emitting direction of the emitter 102. Thus, during the production adjustment process, based on the extending direction of the second position adjusting structure and the light beam emitting direction of the emitter 102, the consistency of the clamping direction and the moving direction of the relevant jigs is ensured when installing and adjusting the base 100, the emitter 102, and the first reflecting portion 114, thereby optimizing the structural design of the optical device 10 and reducing the manufacturing difficulty of the optical device 10. In other embodiments, the extending direction of the second position adjusting structure can also be perpendicular to the light beam emitting direction of the emitter 102.

[0062] In some embodiments, referring to Figure 5 , the second position adjusting structure includes two cooperating guiding surfaces 107b. One guiding surface 107b is disposed on the first reflecting portion 114, and the other guiding surface 107b is disposed on the base 100. The extending direction of the mating portion of the two guiding surfaces 107b of the second position adjusting structure is the extending direction of the second position adjusting structure. It can be understood that the setting manner of the two guiding surfaces 107b of the second position adjusting structure can refer to the setting manner of the two guiding surfaces 107a of the above-mentioned first position adjusting structure, which will not be elaborated here.

[0063] In other embodiments, referring to Figure 6 and Figure 7, the second position adjusting structure includes a second guiding groove 1143 and a second guiding rib 1144 which cooperate with each other. Any one of the second guiding groove 1143 and the second guiding rib 1144 is provided on the first reflecting portion 114, and the other is provided on the base body 100. The extending directions of the second guiding groove 1143 and the second guiding rib 1144 are the same and are both the extending direction of the second position adjusting structure. Refer to Figure 7 , in this embodiment, the second guiding rib 1144 is located on the first reflecting portion 114, and the second guiding groove 1143 is located on the base body 100. Through the mutual cooperation of the second guiding rib 1144 and the second guiding groove 1143, the direction adjustment of the first reflecting portion 114 located on the base body 100 during the production process is guided. It should be noted that the mutually cooperating surfaces between the second guiding groove 1143 and the second guiding rib 1144 can also be understood as two guiding surfaces 107b.

[0064] In some embodiments, the second reflecting portion 115 and the base body 100 are cooperated through a third position adjusting structure, and the extending direction of the third position adjusting structure is not parallel to the second reflecting surface 1151. During the production adjustment process, before being debugged and fixed to the base body 100, a jig can be used to clamp and fix the base body 100, and another jig can be used to clamp and adjust the position of the second reflecting portion 115. The specific adjustment direction is guided by the extending direction of the third position adjusting structure that cooperates between the second reflecting portion 115 and the base body 100, thereby improving the convenience and accuracy during the adjustment process. And the extending direction of the third position adjusting structure is not parallel to the second reflecting surface 1151, ensuring that the position adjustment of the second reflecting portion 115 can affect the focal point landing position of the second emitting lens 1121. It can be understood that if the extending direction of the third position adjusting structure is parallel to the second reflecting surface 1151, the position adjustment of the second reflecting portion 115 cannot affect the focal point landing position of the second emitting lens 1121. Specifically, in some embodiments, when the second reflecting portion 115 and the base body 100 are cooperated through the third position adjusting structure, the extending direction of the third position adjusting structure is parallel to the light beam emitting direction of the emitter 102. Thus, when installing and adjusting the base body 100, the emitter 102, and the second reflecting portion 115 based on the extending direction of the third position adjusting structure and the light beam emitting direction of the emitter 102 during the production adjustment process, the consistency of the clamping direction and the moving direction of the relevant jigs is ensured, thereby optimizing the structural design of the optical device 10 and reducing the manufacturing difficulty of the optical device 10. In other embodiments, the extending direction of the third position adjusting structure can also be perpendicular to the light beam emitting direction of the emitter 102.

[0065] In some embodiments, refer to Figure 5, the third position adjustment structure includes two cooperating guiding surfaces 107c. One guiding surface 107c is disposed on the second reflecting portion 115, and the other guiding surface 107c is disposed on the base body 100. The extending direction of the mating portion of the two guiding surfaces 107c of the third position adjustment structure is the extending direction of the third position adjustment structure. It can be understood that the setting manner of the guiding surface 107c of the third position adjustment structure can refer to the setting manner of the two guiding surfaces 107a of the first position adjustment structure described above, and will not be elaborated here.

[0066] In some other embodiments, referring to Figure 7 , the third position adjustment structure includes a cooperating third guiding groove 1153 and a third guiding rib 1154. Any one of the third guiding groove 1153 and the third guiding rib 1154 is disposed on the second reflecting portion 115, and the other is disposed on the base body 100. The extending direction of the third guiding groove 1153 is the same as the extending direction of the third guiding rib 1154 and is the extending direction of the third position adjustment structure. Specifically, the third guiding groove 1153 is located on the base body 100, and the third guiding rib 1154 is located on the second reflecting portion 115. Through the mutual cooperation of the third guiding rib 1154 and the third guiding groove 1153, the direction adjustment of the second reflecting portion 115 on the base body 100 during the production process is guided. It should be noted that the mating surface between the third guiding groove 1153 and the third guiding rib 1154 can also be understood as two guiding surfaces 107c.

[0067] In some embodiments, referring to Figure 3 , the first reflecting surface 1141 and the second reflecting surface 1151 are arranged opposite to each other, that is, the angle between the first reflecting surface 1141 and the second reflecting surface 1151 is greater than 180°. Such a setting can reduce the possibility of crosstalk between the light beam emitted along the first direction 1122 and the light beam emitted along the second direction 1131, thereby improving the detection reliability. Further, the angle between the first reflecting surface 1141 and the second reflecting surface 1151 can be greater than 225° and less than 270°. For example, the light beam emitting direction of the emitter 102 is perpendicular to the horizontal plane of the calibration coordinate system, the first reflecting surface 1141 forms an angle of 45° with the horizontal plane of the calibration coordinate system, then the light beam reflected by the first reflecting surface 1141 is a horizontal light beam and can be used for scanning and mapping. The second reflecting surface 1151 forms an angle greater than 0 and less than 45° with the horizontal plane of the calibration coordinate system, then the light beam reflected by the second reflecting surface 1151 is an obliquely downward light beam and can be used for identifying obstacles in front. Therefore, the angle between the first reflecting surface 1141 and the second reflecting surface 1151 being greater than 225° and less than 270° can enable the optical device 10 to simultaneously realize the functions of scanning and mapping and obstacle identification.

[0068] Referring to Figure 3, in the XZ plane, the angle between the first direction 1122 and the horizontal plane of the calibration coordinate system is the first angle, and the angle between the second direction 1131 and the horizontal plane of the calibration coordinate system is the second angle, and the first angle is not equal to the second angle. Further, the first angle is 0 to 1°, that is, the light beam emitted along the first direction 1122 is basically a horizontal light beam and can be used for scanning and mapping. The second angle is -1° to -60°, that is, even if the light beam is emitted along the second direction 1131, it is inclined 1° to 60° below the horizontal plane of the calibration coordinate system and can be used to identify obstacles in this direction. Correspondingly, the angle between the first reflecting surface 1141 and the light beam emission direction of the emitter 102 is the third angle, and the angle between the second reflecting surface 1151 and the light beam emission direction of the emitter 102 is the fourth angle, and the third angle is not equal to the fourth angle.

[0069] Further, referring to Figure 2 and Figure 3 , a second emission channel 112 and a third emission channel 113 are further provided in the base body 100. The second emission channel 112 is communicated with the first emission channel 111, and a first reflecting portion 114 is provided between the second emission channel 112 and the first emission channel 111. A first emission lens 1111 is provided in the second emission channel 112. The light beam passing through the first reflecting surface 1141 passes through the first emission lens 1111 and is emitted into the outside along the first direction 1122. The third emission channel 113 is communicated with the first emission channel 111, and a second reflecting portion 115 is provided between the third emission channel 113 and the first emission channel 111. A second emission lens 1121 is provided in the third emission channel 113. The light beam passing through the second reflecting surface 1151 passes through the second emission lens 1121 and is emitted into the outside along the second direction 1131. By providing the second emission channel 112 as the channel for the light beam after being reflected by the first reflecting portion 114 and for installing the first emission lens 1111, and by providing the third emission channel 113 as the channel for the light beam after being reflected by the second reflecting portion 115 and for installing the second emission lens 1121, it is avoided that the length of the first emission channel 111 is too large due to meeting the focal lengths of the first emission lens 1111 and the second emission lens 1121, thereby avoiding the excessive height of the optical device 10 and providing a convenient installation space for the installation of the first emission lens 1111 and the second emission lens 1121.

[0070] In this embodiment, the extending direction of the second emission channel 112 may be the first direction 1122, and the extending direction of the third emission channel 113 may be the second direction 1131, which is beneficial to simplifying the structure of the base body 100, improving the processability, and facilitating the fixed installation of the first emission lens 1111 adapted to the first direction 1122 in the second emission channel 112 and the fixed installation of the second emission lens 1121 adapted to the second direction 1131 in the third emission channel 113. Correspondingly, the light beam emission direction of the emitter 102 is perpendicular to the horizontal plane of the calibration coordinate system, and the extending direction of the first emission channel 111 is the light beam emission direction of the emitter 102, which helps to simplify the structure of the base body 100 and reduce the processing difficulty.

[0071] Further, referring to Figure 2 、 Figure 4 、 Figure 8-9 ,a first receiving channel 121, a second receiving channel 122, a first receiver 103, a second receiver 104, a first receiving lens 127, and a second receiving lens 128 are further provided in the base body 100. A third reflecting portion 125 is provided at the inlet end of the first receiving channel 121. The third reflecting portion 125 is fixed to the base body 100 and corresponds to the first receiving lens 127. The light beam reflected from the outside enters the first receiving channel 121 and reaches the first receiver 103 after passing through the first receiving lens 127 and the third reflecting surface 1251 of the third reflecting portion 125. At the same time, a fourth reflecting portion 126 is provided at the inlet end of the second receiving channel 122. The fourth reflecting portion 126 is fixed to the base body 100 and corresponds to the second receiving lens 128. The light beam reflected from the outside enters the second receiving channel 122 and reaches the second receiver 104 after passing through the second receiving lens 128 and the fourth reflecting surface 1261 of the fourth reflecting portion 126. The light beams reflected back from two directions are received through the first receiving channel 121 and the second receiving channel 122 respectively, avoiding crosstalk between them.

[0072] Further, referring to Figure 7, the third reflecting portion 125 and the base 100 are cooperated through a fourth position adjusting structure, and the extending direction of the fourth position adjusting structure is not parallel to the third reflecting surface 1251. During the production adjustment process, before being debugged and fixed to the base 100, a jig can be used to clamp and fix the base 100, and another jig can be used to clamp the third reflecting portion 125 and adjust its position. The specific adjustment direction is guided by the extending direction of the fourth position adjusting structure that cooperates between the third reflecting portion 125 and the base 100, thereby improving the convenience and accuracy during the adjustment process. And the extending direction of the fourth position adjusting structure is not parallel to the third reflecting portion 125, ensuring that the position adjustment of the third reflecting portion 125 can affect the focal point landing position of the first receiving lens 127. It can be understood that if the extending direction of the fourth position adjusting structure is parallel to the third reflecting surface 1251, the position adjustment of the third reflecting portion 125 cannot affect the focal point landing position of the first receiving lens 127. Specifically, in some embodiments, when the third reflecting portion 125 and the base 100 are cooperated through the fourth position adjusting structure, the extending direction of the fourth position adjusting structure is parallel to the direction in which the light beam is incident on the first receiver 103. Thus, during the production adjustment process, based on the extending direction of the fourth position adjusting structure and the direction in which the light beam is incident on the first receiver 103, when installing and adjusting the base 100, the first receiver 103, and the third reflecting portion 125, the consistency of the clamping direction and the moving direction of the relevant jigs is ensured, thereby optimizing the structural design of the optical device 10 and reducing the manufacturing difficulty of the optical device 10. In other embodiments, the extending direction of the fourth position adjusting structure can also be perpendicular to the direction in which the light beam is incident on the first receiver 103.

[0073] In some embodiments, the fourth position adjusting structure includes two mutually cooperating guiding surfaces. One guiding surface is disposed on the third reflecting portion 125, and the other guiding surface is disposed on the base 100. The extending direction of the mating portion of the two guiding surfaces of the fourth position adjusting structure is the extending direction of the fourth position adjusting structure. It can be understood that the setting manner of the two guiding surfaces of the fourth position adjusting structure can refer to the setting manner of the two guiding surfaces 107a of the first position adjusting structure described above, and will not be elaborated here.

[0074] In other embodiments, referring to Figure 7 and Figure 8 , the fourth position adjusting structure includes a mutually cooperating fourth guiding groove 1252 and a fourth guiding rib 1253. One of the fourth guiding groove 1252 and the fourth guiding rib 1253 is disposed on the third reflecting portion 125, and the other is disposed on the base 100. The extending direction of the fourth guiding groove 1252 and the extending direction of the fourth guiding rib 1253 are the same and are both the extending direction of the fourth position adjusting structure. Referring to Figure 7 and Figure 8, in this embodiment, the fourth guiding groove 1252 is located on the base body 100, and the fourth guiding rib 1253 is located on the third reflecting portion 125. Through the mutual cooperation of the fourth guiding rib 1253 and the fourth guiding groove 1252, the third reflecting portion 125 is guided to adjust its direction on the base body 100 during the production process. It should be noted that the mutually cooperating surfaces between the fourth guiding groove 1252 and the fourth guiding rib 1253 can also be understood as the two guiding surfaces of the fourth position adjusting structure.

[0075] On the other hand, the fourth reflecting portion 126 and the base body 100 are cooperated through a fifth position adjusting structure. The extending direction of the fifth position adjusting structure is not parallel to the fourth reflecting surface 1261. During the production adjustment process, before the debugging is completed and fixed to the base body 100, a fixture can be used to clamp and fix the base body 100, and another fixture can be used to clamp the fourth reflecting portion 126 and adjust its position. The specific adjusting direction is guided by the extending direction of the fifth position adjusting structure that cooperates between the fourth reflecting portion 126 and the base body 100, thereby improving the convenience and accuracy during the adjustment process. And the extending direction of the fifth position adjusting structure is not parallel to the fourth reflecting portion 126, ensuring that the position adjustment of the fourth reflecting portion 126 can affect the focal point landing position of the second receiving lens 128. It can be understood that if the extending direction of the fifth position adjusting structure is parallel to the fourth reflecting surface 1261, the position adjustment of the fourth reflecting portion 126 cannot affect the focal point landing position of the second receiving lens 128. Specifically, in some embodiments, when the fourth reflecting portion 126 and the base body 100 are cooperated through the fifth position adjusting structure, the extending direction of the fifth position adjusting structure is parallel to the direction in which the light beam is incident on the second receiver 104. Thus, during the production adjustment process, when installing and adjusting the base body 100, the second receiver 104, and the fourth reflecting portion 126 based on the extending direction of the fifth position adjusting structure and the direction in which the light beam is incident on the second receiver 104, the consistency of the clamping direction and the moving direction of the relevant fixtures is ensured, thereby optimizing the structural design of the optical device 10 and reducing the manufacturing difficulty of the optical device 10. In other embodiments, the extending direction of the fifth position adjusting structure can also be perpendicular to the direction in which the light beam is incident on the second receiver 104.

[0076] In some embodiments, the fifth position adjusting structure includes two mutually cooperating guiding surfaces. One guiding surface is provided on the fourth reflecting portion 126, and the other guiding surface is provided on the base body 100. The extending direction of the cooperating portion of the two guiding surfaces of the fifth position adjusting structure is the extending direction of the fifth position adjusting structure. It can be understood that the setting manner of the two guiding surfaces of the fifth position adjusting structure can refer to the setting manner of the two guiding surfaces 107a of the above-mentioned first position adjusting structure, and will not be elaborated here.

[0077] In other embodiments, refer toFigure 7 and Figure 8 The fifth position adjustment structure includes a fifth guiding groove 1262 and a fifth guiding rib 1263 that cooperate with each other. One of the fifth guiding groove 1262 and the fifth guiding rib 1263 is disposed on the fourth reflecting portion 126, and the other of the fifth guiding groove 1262 and the fifth guiding rib 1263 is disposed on the base body 100. The extending directions of the fifth guiding groove 1262 and the fifth guiding rib 1263 are the same and are both the extending direction of the fifth position adjustment structure. Refer to Figure 7 In this embodiment, the fifth guiding groove 1262 is located on the base body 100, and the second guiding rib 1144 is located on the fourth reflecting portion 126. Through the mutual cooperation of the fifth guiding rib 1263 and the fifth guiding groove 1262, the direction adjustment of the fourth reflecting portion 126 on the base body 100 during the production process is guided. It should be noted that the surfaces that cooperate with each other between the fifth guiding groove 1262 and the fifth guiding rib 1263 can also be understood as the two guiding surfaces of the fifth position adjustment structure.

[0078] It can be understood that the cooperation between the guiding groove and the guiding rib is one of the situations where two guiding surfaces cooperate with each other.

[0079] Furthermore, when the third reflecting portion 125 and the base body 100 are cooperated through the fourth position adjustment structure, the extending direction of the fourth position adjustment structure is parallel to the extending direction of the first receiving channel 121. Correspondingly, when the fourth reflecting portion 126 and the base body 100 are cooperated through the fifth position adjustment structure, the extending direction of the fifth position adjustment structure is parallel to the extending direction of the second receiving channel 122, which helps to simplify the structure of the base body 100 and the manufacturing difficulty.

[0080] Refer to Figure 8 and Figure 9, a third receiving channel 123 and a fourth receiving channel 124 are further provided in the base body 100. The third receiving channel 123 communicates with the first receiving channel 121, and a third reflecting portion 125 is provided between the third receiving channel 123 and the first receiving channel 121. A first receiving lens 127 is provided in the third transmitting channel 113. The light beam reflected by the outside enters the first receiving channel 121 after passing through the first receiving lens 127, the third receiving channel 123, and the third reflecting surface 1251 of the third reflecting portion 125. The fourth receiving channel 124 communicates with the second receiving channel 122, and a fourth reflecting portion 126 is provided between the fourth receiving channel 124 and the second receiving channel 122. A second receiving lens 128 is provided in the fourth receiving channel 124. The light beam reflected by the outside enters the second receiving channel 122 after passing through the second receiving lens 128, the fourth receiving channel 124, and the fourth reflecting surface 1261 of the fourth reflecting portion 126. By providing the third receiving channel 123 as the channel for the light beam to enter after being reflected by the outside and for installing the first receiving lens 127, and by providing the fourth receiving channel 124 as the channel for the light beam to enter after being reflected by the outside and for installing the second receiving lens 128, it is avoided that the lengths of the first receiving channel 121 and the second receiving channel 122 are too large due to the need to satisfy the focal lengths of the first receiving lens 127 and the second receiving lens 128, thereby avoiding the excessive height of the optical device 10 and providing a convenient installation space for the installation of the first receiving lens 127 and the second receiving lens 128.

[0081] In this embodiment, the light beams reflected by the outside enter the third receiving channel 123 in a direction parallel to the first direction 1122 and enter the fourth receiving channel 124 in a direction parallel to the second direction 1131 respectively. Further, the extending direction of the third receiving channel 123 may be the first direction 1122, and the extending direction of the fourth receiving channel 124 may be the second direction 1131, which helps to simplify the structure of the base body 100, makes the base body 100 easy to manufacture, and is beneficial to the fixed installation of the first receiving lens 127 adapted to the first direction 1122 in the third receiving channel 123 and the fixed installation of the second receiving lens 128 adapted to the second direction 1131 in the fourth receiving channel 124. Further, the direction in which the light beam is incident on the first receiver 103 or the second receiver 104 is perpendicular to the horizontal plane of the calibration coordinate system, the extending direction of the first receiving channel 121 is perpendicular to the XY plane, and the extending direction of the second receiving channel 122 is perpendicular to the XY plane.

[0082] Refer to Figure 4, the plane where the first direction 1122 and the light beam emission direction of the emitter 102 are located is the first plane 105, and the plane where the second direction 1131 and the light beam emission direction of the emitter 102 are located is the second plane 106. The first plane 105 and the second plane 106 jointly define the emission surface. The first plane 105 and the second plane 106 can be arranged coplanarly. In some other embodiments, the first plane 105 and the second plane 106 can be arranged at an angle, and the function of detecting different directions can also be realized. Refer to Figure 4 , the first receiving channel 121 and the second receiving channel 122 are respectively located on both sides of the emission surface, and the first receiving channel 121 and the second receiving channel 122 can be arranged to be at least partially overlapped along the extension direction perpendicular to the emission surface, so as to reduce the size of the base body 100 along the extension direction of the emission surface; Refer to Figure 10 , Figure 11 and Figure 12 , in some other embodiments, the first receiving channel 121 and the second receiving channel 122 can be arranged on the same side of the emission surface, and the first receiving channel 121 and the second receiving channel 122 can be arranged to be at least partially overlapped along the extension direction of the emission surface, so as to reduce the size of the base body 100 along the extension direction perpendicular to the emission surface.

[0083] Refer to Figure 2 , it can be understood that a circuit board 101 is provided at the bottom of the base body 100. In some embodiments, there can be one circuit board 101, and the emitter 102, the first receiver 103 and the second receiver 104 are all mounted on one circuit board 101. In some other embodiments, there can be multiple circuit boards 101, and the emitter 102, the first receiver 103 and the second receiver 104 are respectively arranged.

[0084] On the other hand, this embodiment also includes a driver (not shown in the figure). The driver is used to drive the base body 100 to rotate around the direction perpendicular to the horizontal plane of the calibration coordinate system, that is, the base body 100 can rotate around the Z axis on the XY plane to scan the outside of the base body 100, so as to realize the functions of object detection and distance measurement in all directions.

[0085] According to an embodiment of the second aspect of the present utility model, a mobile robot is provided, including the aforementioned optical device 10. Among them, a robot body is further included, and the optical device 10 is arranged on the robot body. The optical device 10 is used to detect the distance between the mobile robot and an external object or to detect whether there is an external object within a preset distance range of the mobile robot. It can be understood that, compared with the prior art, the mobile robot provided by the embodiment of the present utility model adopts the optical device 10, and a first reflection part 114 and a second reflection part 115 which are separately installed are arranged in its emission optical path. By using the separately arranged first reflection part 114 and second reflection part 115 to split the light beam emitted by the emitter 102, the two emission optical paths after splitting can be adjusted independently and without mutual influence during the production process, so as to respectively adapt to the focal lengths of the first emission lens 1111 and the second emission lens 1121, simplify the focusing operation, and improve the production efficiency.

[0086] The above has described the embodiments of the present utility model in detail with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art to which it pertains, various changes can also be made without departing from the gist of the present utility model.

Claims

1. An optical device, characterized in that, Including: A substrate, in which a first emission channel, a first reflection part and a second reflection part are provided. The first reflection part and the second reflection part are separately arranged and fixed on the substrate; A first emission lens and a second emission lens, both of which are fixed on the substrate. The first emission lens is correspondingly arranged with the first reflection part, and the second emission lens is correspondingly arranged with the second reflection part; A transmitter, a part of the light beam emitted by the transmitter passes through the first emission channel, the first reflection surface of the first reflection part and the first emission lens and then is emitted to the outside along a first direction, and another part of the light beam emitted by the transmitter passes through the first emission channel, the second reflection surface of the second reflection part and the second emission lens and then is emitted to the outside along a second direction.

2. An optical device according to claim 1, characterized in that, The first reflection part and the second reflection part are cooperated through a first position adjustment structure, and the extending direction of the first position adjustment structure is not parallel to both the first reflection surface and the second reflection surface; And / or, the first reflection part and the substrate are cooperated through a second position adjustment structure, and the extending direction of the second position adjustment structure is not parallel to the first reflection surface; And / or, the second reflection part and the substrate are cooperated through a third position adjustment structure, and the extending direction of the third position adjustment structure is not parallel to the second reflection surface.

3. An optical device according to claim 2, characterized in that, When the first reflection part and the second reflection part are cooperated through the first position adjustment structure, the first position adjustment structure includes two mutually cooperating guiding surfaces, one guiding surface is arranged on the first reflection part, and the other guiding surface is arranged on the second reflection part. The extending direction of the cooperating part of the two guiding surfaces of the first position adjustment structure is the extending direction of the first position adjustment structure. Or, the first position adjustment structure includes a mutually cooperating first guiding groove and a first guiding rib. One of the first guiding groove and the first guiding rib is arranged on the first reflection part, and the other of the first guiding groove and the first guiding rib is arranged on the second reflection part. The extending direction of the first guiding groove and the extending direction of the first guiding rib are the same and both are the extending direction of the first position adjustment structure; When the first reflecting part and the base cooperate through the second position adjusting structure, the second position adjusting structure includes two mutually cooperating guiding surfaces, one of the guiding surfaces is arranged on the first reflecting part, and the other guiding surface is arranged on the base. The extending direction of the mating part of the two guiding surfaces of the second position adjusting structure is the extending direction of the second position adjusting structure. Or, the second position adjusting structure includes a second guiding groove and a second guiding rib that cooperate with each other. One of the second guiding groove and the second guiding rib is arranged on the first reflecting part, and the other of the second guiding groove and the second guiding rib is arranged on the base. The extending direction of the second guiding groove and the extending direction of the second guiding rib are the same and are both the extending direction of the second position adjusting structure; When the second reflecting part and the base cooperate through the third position adjusting structure, the third position adjusting structure includes two mutually cooperating guiding surfaces, one of the guiding surfaces is arranged on the second reflecting part, and the other guiding surface is arranged on the base. The extending direction of the mating part of the two guiding surfaces of the third position adjusting structure is the extending direction of the third position adjusting structure. Or, the third position adjusting structure includes a third guiding groove and a third guiding rib that cooperate with each other. One of the third guiding groove and the third guiding rib is arranged on the second reflecting part, and the other of the third guiding groove and the third guiding rib is arranged on the base. The extending direction of the third guiding groove and the extending direction of the third guiding rib are the same and are both the extending direction of the third position adjusting structure.

4. An optical device according to claim 2 or 3, characterized in that, When the first reflecting part and the second reflecting part cooperate through the first position adjusting structure, the extending direction of the first position adjusting structure is parallel to the light beam emitting direction of the emitter; When the first reflecting part and the base cooperate through the second position adjusting structure, the extending direction of the second position adjusting structure is parallel to the light beam emitting direction of the emitter; When the second reflecting part and the base cooperate through the third position adjusting structure, the extending direction of the third position adjusting structure is parallel to the light beam emitting direction of the emitter.

5. An optical device according to claim 1, characterized in that, The included angle between the first direction and the horizontal plane of the calibration coordinate system is the first included angle, and the included angle between the second direction and the horizontal plane of the calibration coordinate system is the second included angle. Taking the angle formed by the direction obliquely upward relative to the horizontal plane of the calibration coordinate system and the horizontal plane of the calibration coordinate system as positive, the first included angle is not equal to the second included angle.

6. An optical device according to claim 5, characterized in that, The first included angle is 0 to 1°, and the second included angle is -1° to -60°.

7. An optical device according to claim 1, characterized in that, The included angle between the first reflecting surface and the light beam emitting direction of the emitter is the third included angle, and the included angle between the second reflecting surface and the light beam emitting direction of the emitter is the fourth included angle. The third included angle is not equal to the fourth included angle.

8. An optical device according to claim 1, wherein The first reflecting surface and the second reflecting surface are arranged back to back.

9. An optical device according to claim 1, characterized in that, The base body is further provided with a second emission channel and a third emission channel. The second emission channel is communicated with the first emission channel, and a first reflection part is arranged between the second emission channel and the first emission channel. A first emission lens is arranged in the second emission channel. The light beam passing through the first reflection surface passes through the first emission lens and is emitted to the outside along the first direction. The third emission channel is communicated with the first emission channel, and a second reflection part is arranged between the third emission channel and the first emission channel. A second emission lens is arranged in the third emission channel. The light beam passing through the second reflection surface passes through the second emission lens and is emitted to the outside along the second direction.

10. An optical device according to claim 9, characterized in that, The horizontal plane of the calibration coordinate system is perpendicular to the light beam emission direction of the emitter, and / or the extending direction of the first emission channel is the light beam emission direction of the emitter, and / or the extending direction of the second emission channel is the first direction, and / or the extending direction of the third emission channel is the second direction.

11. An optical device according to claim 1, characterized in that, The base body is further provided with a first receiving channel, a second receiving channel, a first receiver, a second receiver, a first receiving lens and a second receiving lens. A third reflection part is arranged at the inlet end of the first receiving channel. The third reflection part is fixed on the base body and corresponds to the first receiving lens. The light beam reflected from the outside enters the first receiving channel through the first receiving lens and the third reflection surface of the third reflection part and reaches the first receiver. A fourth reflection part is arranged at the inlet end of the second receiving channel. The fourth reflection part is fixed on the base body and corresponds to the second receiving lens. The light beam reflected from the outside enters the second receiving channel through the second receiving lens and the fourth reflection surface of the fourth reflection part and reaches the second receiver.

12. An optical device according to claim 11, characterized in that, The third reflection part and the base body are cooperated through a fourth position adjusting structure, and the extending direction of the fourth position adjusting structure is not parallel to the third reflection surface; and / or, the fourth reflection part and the base body are cooperated through a fifth position adjusting structure, and the extending direction of the fifth position adjusting structure is not parallel to the fourth reflection surface.

13. An optical device according to claim 12, characterized in that, When the third reflection part and the base body are cooperated through the fourth position adjusting structure, the fourth position adjusting structure includes two mutually cooperating guiding surfaces. One guiding surface is arranged on the third reflection part, and the other guiding surface is arranged on the base body. The extending direction of the cooperating part of the two guiding surfaces of the fourth position adjusting structure is the extending direction of the fourth position adjusting structure; or, the fourth position adjusting structure includes a fourth guiding groove and a fourth guiding rib which are mutually cooperating. One of the fourth guiding groove and the fourth guiding rib is arranged on the third reflection part, and the other of the fourth guiding groove and the fourth guiding rib is arranged on the base body. The extending direction of the fourth guiding groove and the extending direction of the fourth guiding rib are the same and are both the extending direction of the fourth position adjusting structure; When the fourth reflecting part and the base body are cooperated through the fifth position adjusting structure, the fifth position adjusting structure includes two mutually cooperating guiding surfaces, one guiding surface is arranged on the fourth reflecting part, and the other guiding surface is arranged on the base body. The extending direction of the mating part of the two guiding surfaces of the fifth position adjusting structure is the extending direction of the fifth position adjusting structure; or, the fifth position adjusting structure includes a mutually cooperating fifth guiding groove and a fifth guiding rib. One of the fifth guiding groove and the fifth guiding rib is arranged on the fourth reflecting part, and the other of the fifth guiding groove and the fifth guiding rib is arranged on the base body. The extending direction of the fifth guiding groove and the extending direction of the fifth guiding rib are the same and are both the extending direction of the fifth position adjusting structure.

14. An optical device according to claim 12 or 13, characterized in that, When the third reflecting part and the base body are cooperated through the fourth position adjusting structure, the extending direction of the fourth position adjusting structure is parallel to the extending direction of the first receiving channel; When the fourth reflecting part and the base body are cooperated through the fifth position adjusting structure, the extending direction of the fifth position adjusting structure is parallel to the extending direction of the second receiving channel.

15. An optical device according to claim 11, characterized in that, A third receiving channel and a fourth receiving channel are further arranged in the base body; the third receiving channel is communicated with the first receiving channel, and a third reflecting part is arranged between the third receiving channel and the first receiving channel. The light beam reflected by the outside enters the first receiving channel after passing through the first receiving lens, the third receiving channel, and the third reflecting surface of the third reflecting part; The fourth receiving channel is communicated with the second receiving channel, and a fourth reflecting part is arranged between the fourth receiving channel and the second receiving channel. The light beam reflected by the outside enters the second receiving channel after passing through the second receiving lens, the fourth receiving channel, and the fourth reflecting surface of the fourth reflecting part.

16. An optical device according to claim 15, characterized in that, The horizontal plane of the calibration coordinate system is perpendicular to the extending direction of the first receiving channel, and / or the horizontal plane of the calibration coordinate system is perpendicular to the extending direction of the second receiving channel, and / or the extending direction of the third receiving channel is parallel to the first direction, and / or the extending direction of the fourth receiving channel is parallel to the second direction.

17. The optical device according to claim 11, wherein The plane where the first direction and the light beam emitting direction of the emitter are located is the first plane, the plane where the second direction and the light beam emitting direction of the emitter are located is the second plane, and the first plane and the second plane jointly define the emitting surface; The first receiving channel and the second receiving channel are respectively located on both sides or the same side of the emitting surface; The first plane and the second plane are arranged coplanarly or at an angle.

18. The optical device according to claim 17, wherein It further includes a driver for driving the base body to rotate around a direction perpendicular to the horizontal plane of the calibration coordinate system.

19. A mobile robot, characterized in that, An optical device according to any one of claims 1 to 18, further comprising a robot body, wherein the optical device is disposed on the robot body, and the optical device is configured to detect a distance between the mobile robot and an external object or to detect whether there is an external object within a preset distance range of the mobile robot.

Images