Reflector assembly, optical distance measuring device and self-walking robot

Abstract

The utility model provides a reflective mirror assembly, an optical distance measuring device and a self-walking robot, the reflective mirror assembly is rotatably arranged on a base of the optical distance measuring device, and a reflective mirror is obliquely arranged on a reflective mirror support relative to the axial direction of a rotation shaft; the first light beam channel plate is fixedly connected with the reflector support, one side of the first light beam channel plate defines a transmitting channel, and the other side defines a receiving channel. A light beam emitted by a light transceiving module of the optical distance measuring device is suitable for being emitted to an external object after sequentially passing through the reflective mirror and the transmitting channel, and the light beam reflected by the external object is suitable for being received by the light transceiving module after sequentially passing through the receiving channel and the reflective mirror. According to the reflector assembly provided by the invention, the reflector assembly with the reflector is rotatably arranged on the base, and the platy first light beam channel plate is arranged to define the transmitting channel and the receiving channel, so that the structure is simple, the angle of the reflector is convenient to adjust, and the assembly precision requirement on related structures of the reflector is reduced.

Description

Technical Field

[0001] This application belongs to the field of optical ranging, and particularly relates to a reflector assembly, an optical ranging device, and a self-propelled robot. Background Art

[0002] In the prior art, for an optical ranging device (such as a lidar) that performs scanning ranging through a rotating reflector, the reflector and its corresponding bracket and beam channel member are rotatably arranged on the upper cover, and its rotation process also requires electrical connection and control from a circuit board on the base. The structure is complex, the cost is high, and the assembly accuracy requirements for the reflector-related structure are high. Moreover, the beam channel member is generally an L-shaped cylindrical structure, and the requirements for the reliability of the connection method and the installation accuracy are high. Summary of the Utility Model

[0003] In view of the above technical problems, this application provides a reflector assembly, an optical ranging device, and a self-propelled robot having the same. The reflector assembly with a reflector is rotatably arranged on the base, and a plate-shaped first beam channel plate is provided to define an emission channel and a reception channel. The structure is simple and it is convenient to adjust the angle of the reflector, reducing the assembly accuracy requirements for the reflector-related structure.

[0004] The specific technical solution of this application is as follows:

[0005] A reflector assembly is rotatably arranged on the base of an optical ranging device. The reflector assembly includes:

[0006] A reflector bracket;

[0007] A reflector, which is inclinedly arranged on the reflector bracket relative to the rotation axis of the reflector assembly;

[0008] At least one first beam channel plate, which is fixedly connected to the reflector bracket; one side of at least one first beam channel plate defines an emission channel, and the other side of at least one first beam channel plate defines a reception channel;

[0009] The beam emitted by the optical transceiver module of the optical ranging device is adapted to pass through the reflector and the emission channel in sequence and then be emitted to an external object. The beam reflected by the external object is adapted to pass through the reception channel and the reflector in sequence and then be received by the optical transceiver module.

[0010] In addition, the reflector assembly according to this application may further have the following additional technical features.

[0011] In some examples of the present application, there are at least two first light beam channel plates; an emission channel is defined between the two first light beam channel plates; on one side of one of the first light beam channel plates facing away from the emission channel, one of the receiving channels is defined, and / or, on one side of the other first light beam channel plate facing away from the emission channel, the other receiving channel is defined.

[0012] In some examples of the present application, the first light beam channel plate and the mirror support are integrally formed; a first draft port is defined between the ends of two adjacent first light beam channel plates; along the direction away from the first draft port, the distance between two adjacent first light beam channel plates gradually decreases.

[0013] In some examples of the present application, along the rotation axis of the mirror assembly, the first draft port is defined between the ends of two adjacent first light beam channel plates that are away from the mirror support; or, along the direction perpendicular to the rotation axis of the mirror assembly, the first draft port is defined between the ends of two adjacent first light beam channel plates.

[0014] In some examples of the present application, the mirror assembly further includes a first light transmissive member, and both ends of the first light transmissive member are cooperatively connected to two adjacent first light beam channel plates; the light beam in the emission channel is adapted to pass through the first light transmissive member and then be emitted to an external object.

[0015] In some examples of the present application, an angle between the first light transmissive member and the light emission axis of the mirror is 50° to 89.5°.

[0016] In some examples of the present application, the mirror assembly further includes a second light beam channel plate; there is one second light beam channel plate, and one second light beam channel plate is arranged on one side of one of the first light beam channel plates facing away from the emission channel and defines one of the receiving channels with one of the first light beam channel plates; or, there are two second light beam channel plates, one second light beam channel plate is arranged on one side of one of the first light beam channel plates facing away from the emission channel and defines one of the receiving channels with one of the first light beam channel plates, and the other second light beam channel plate is arranged on one side of the other first light beam channel plate facing away from the emission channel and defines the other receiving channel with the other first light beam channel plate.

[0017] In some examples of the present application, the mirror assembly further includes a second light transmissive member, and both ends of the second light transmissive member are cooperatively connected to the adjacent first light beam channel plate and the second light beam channel plate; the light beam reflected by the external object is adapted to pass through the second light transmissive member and then enter the corresponding receiving channel.

[0018] In some examples of the present application, a band-pass filter layer is provided on the second light-transmitting member, or, along the optical path of the light beam reflected by an external object, a band-pass filter member is provided between the receiving channel and the optical transceiver module.

[0019] In some examples of the present application, the mirror assembly further includes a first light-transmitting member, and two ends of the first light-transmitting member are respectively connected to two adjacent first light beam channel plates in a cooperating manner; the light beam in the transmitting channel is adapted to pass through the first light-transmitting member and then irradiate an external object; wherein, the first light-transmitting member and the second light-transmitting member are integrally formed, or the first light-transmitting member and the second light-transmitting member are separately provided.

[0020] In some examples of the present application, the first light beam channel plate, the second light beam channel plate and the mirror support are integrally formed; a second draft port is defined between the ends of the adjacent first light beam channel plate and the second light beam channel plate, and along the direction away from the second draft port, the distance between the adjacent first light beam channel plate and the second light beam channel plate gradually decreases.

[0021] In some examples of the present application, along the rotation axis of the mirror assembly, the second draft port is defined between the ends of the adjacent first light beam channel plate and the second light beam channel plate that are away from the mirror support; or, along the direction perpendicular to the rotation axis of the mirror assembly, the second draft port is defined between the ends of the adjacent first light beam channel plate and the second light beam channel plate.

[0022] In some examples of the present application, along the rotation axis of the mirror assembly, at least a part of the first light beam channel plate is located on the side of the mirror close to the mirror support.

[0023] In some examples of the present application, a card slot is provided on the mirror, and at least a part of the first light beam channel plate is received in the card slot.

[0024] In some examples of the present application, the mirror surface of the mirror includes a transmitting mirror surface and a receiving mirror surface, and the card slot is provided between the transmitting mirror surface and the receiving mirror surface; along the extending direction of the card slot, the width of the transmitting mirror surface is less than or equal to the width of the receiving mirror surface.

[0025] In some examples of the present application, a light beam outlet and a light beam inlet are provided on the rearview mirror bracket. Both the light beam outlet and the light beam inlet are located on the side of the rearview mirror close to the rearview mirror bracket. The light beam emitted by the optical transceiver module is adapted to sequentially pass through the light beam outlet, the rearview mirror, and the emission channel and then be emitted towards an external object. The light beam reflected by the external object is adapted to sequentially pass through the reception channel, the rearview mirror, and the light beam inlet and then be received by the optical transceiver module.

[0026] In some examples of the present application, a light-shielding member is provided on the rearview mirror bracket. The light-shielding member is located on the side of the rearview mirror close to the rearview mirror bracket along the rotation axis of the rearview mirror assembly. A part of the light-shielding member is used to sleeve a part of the optical transceiver module. The light beam outlet is provided on the light-shielding member, and the light beam inlet is provided outside the light-shielding member. The light-shielding member is fixedly connected to the first light beam channel plate.

[0027] The present application also provides an optical ranging device, including a base, an optical transceiver module, and the rearview mirror assembly provided according to the present application. The rearview mirror assembly is rotatably provided on the base. The optical transceiver module is provided on the base and is used for emitting and receiving light beams. The light beam emitted by the optical transceiver module sequentially passes through the rearview mirror and the emission channel and then is emitted towards an external object. The light beam reflected by the external object sequentially passes through the reception channel and the rearview mirror and then is received by the optical transceiver module.

[0028] In some examples of the present application, the optical transceiver module includes a transmitting component and a receiving component. The light beam of the optical transceiver module is emitted from the transmitting component and then sequentially passes through the rearview mirror and the emission channel and is emitted towards an external object. The light beam reflected by the external object sequentially passes through the reception channel and the rearview mirror and then is received by the receiving component.

[0029] In some examples of the present application, at least part of the axis of the receiving component, at least part of the axis of the transmitting component, and the rotation axis of the rearview mirror assembly are coaxially arranged.

[0030] In some examples of the present application, the optical ranging device further includes an upper cover. The upper cover covers the rearview mirror assembly and is fixedly connected to the rearview mirror assembly. A light-shielding rib is provided on the side of the upper cover close to the first light beam channel plate. The light-shielding rib extends from the upper cover into the emission channel or the reception channel to cover the gap between the upper cover and the first light beam channel plate in a direction perpendicular to the rotation axis of the rearview mirror assembly.

[0031] In some examples of the present application, the mirror assembly further includes a rotating base, and the rotating base is rotatably arranged on the base; the rotating base is integrally formed with the mirror bracket, or the rotating base is separately arranged from the mirror bracket and fixedly connected.

[0032] In some examples of the present application, the base is provided with a bearing and a lower bearing mounting seat; when the rotating base is integrally formed with the mirror bracket, along the rotation axis of the mirror assembly, the rotating base is arranged between the mirror bracket and the base, and the rotating base is provided with a first upper bearing mounting seat with an opening facing the base, and the bearing is arranged between the first upper bearing mounting seat and the lower bearing mounting seat; or, when the rotating base is separately arranged from the mirror bracket and fixedly connected, along the rotation axis of the mirror assembly, the rotating base is arranged between the mirror bracket and the base, and the rotating base is provided with a second upper bearing mounting seat with an opening facing the mirror bracket, and the bearing is arranged between the second upper bearing mounting seat and the lower bearing mounting seat.

[0033] In some examples of the present application, the optical ranging device further includes a coding assembly, and the coding assembly includes a coding detection unit and a plurality of coding units. The coding detection unit is arranged on the base; the plurality of coding units are circumferentially spaced apart on the side of the rotating base close to the base around the rotation axis of the mirror assembly, and the coding detection unit cooperates with the plurality of coding units to detect the rotation angle and / or rotation speed of the rotating base relative to the base.

[0034] The present application also provides a self-propelled robot, including a robot body and the optical ranging device provided according to the present application.

[0035] For the mirror assembly, optical ranging device and self-propelled robot provided by the present application, the mirror assembly with the mirror is rotatably arranged on the base, and the optical transceiver module for emitting and receiving light beams is arranged on the base. The structure is simple and the angle of the mirror can be adjusted during the assembly process, reducing the assembly precision requirements of the mirror assembly, thereby reducing the processing and assembly costs; at the same time, the first light beam channel plate extending between the mirror and the mirror bracket defines the emission channel and the reception channel, reducing the possibility of crosstalk between the emitted light beam and the received light beam, and the plate-shaped first light beam channel plate has a simple structure, is easy to connect and install, and reduces the production cost.

[0036] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present application. Description of the Drawings

[0037] Figure 1 It is a schematic diagram of a self - walking robot provided by an embodiment of the present application.

[0038] Figure 2 It is a schematic diagram of an optical ranging device provided by an embodiment of the present application.

[0039] Figure 3 It is a cross - sectional view of an optical ranging device provided by an embodiment of the present application.

[0040] Figure 4 It is a partial structural schematic diagram of a mirror assembly provided by an embodiment of the present application.

[0041] Figure 5 It is a front view of a partial structure of a mirror assembly provided by an embodiment of the present application.

[0042] Figure 6 It is a top view of a partial structure of a mirror assembly provided by an embodiment of the present application.

[0043] Figure 7 It is a top view of a mirror assembly provided by an embodiment of the present application.

[0044] Figure 8 It is a top view of a mirror assembly provided by another embodiment of the present application.

[0045] Figure 9 It is a schematic diagram of an optical ranging device provided by an embodiment of the present application.

[0046] Figure 10 It is a schematic diagram of the setting manner of a mirror and a first light - transmitting member in a mirror assembly provided by an embodiment of the present application.

[0047] Figure 11 It is a schematic diagram of the setting manner of a mirror and a first light - beam channel plate in a mirror assembly provided by an embodiment of the present application.

[0048] Figure 12 It is a partial cross - sectional view of an optical ranging device provided by an embodiment of the present application.

[0049] Figure 13 It is a cross - sectional view of an optical ranging device provided by another embodiment of the present application.

[0050] Figure 14 It is a partial schematic diagram of an optical ranging device provided by an embodiment of the present application.

[0051] Reference numerals:

[0052] 100, mirror assembly;

[0053] 10, mirror bracket; 10a, light - beam outlet; 10b, light - beam inlet; 11, light - shielding member;

[0054] 20. Rearview mirror; 21. Card slot; 22. Transmitting mirror surface; 23. Receiving mirror surface;

[0055] 30. First light beam channel plate; 30a. First draft angle; 31. First light transmissive member;

[0056] 40. Second light beam channel plate; 40a. Second draft angle; 41. Second light transmissive member;

[0057] 51. Transmitting channel; 52. Receiving channel;

[0058] 60. Rotating base; 61. First upper bearing mounting seat; 62. Second upper bearing mounting seat;

[0059] 200. Optical ranging device; 210. Base; 211. Bearing; 212. Lower bearing mounting seat; 220. Optical transceiver module; 221. Transmitting assembly; 2211. Optical transmitter; 2212. Transmitting lens; 222. Receiving assembly; 2221. Optical receiver; 2222. Receiving lens; 2223. Receiving optical path adjustment element; 223. Circuit board; 230. Driving assembly; 241. Coding detection unit; 242. Coding unit; 250. Upper cover; 250a. Light passing hole; 250b. Light blocking rib;

[0060] 300. Self - propelled robot; 310. Robot body. Detailed implementation manner

[0061] In order to make the technical problems, technical solutions and beneficial effects solved by this application clearer, the following further details this application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0062] The embodiments of this application are described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain this application and cannot be understood as a limitation of this application.

[0063] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "vertical", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application 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. Therefore, it should not be construed as a limitation to the present application. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0064] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected" and "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0065] Through research and analysis, the inventors of the present application found that in the prior art, for an optical ranging device (such as lidar) that performs scanning ranging through a rotating mirror, the mirror and its corresponding bracket and beam channel member are rotatably arranged on the upper cover, and its rotation process also requires electrical connection and control from the circuit board on the base. The structure is complex, the cost is relatively high, and the assembly accuracy requirements for the mirror-related structure are relatively high. This is because after the mirror-related structure is arranged on the upper cover, its periphery will be surrounded by the upper cover, making it difficult to adjust the angle of the mirror. Therefore, generally, the assembly accuracy requirements for the mirror-related structure need to be improved in the design stage, so that it is possible to achieve no need to adjust the angle of the mirror after the assembly of the mirror-related structure is completed. In addition, the beam channel member is generally an L-shaped cylindrical structure, and it often needs to set an opening at the L-shaped corner and attach the opening to the mirror, which has relatively high requirements for the reliability of the connection method and the installation accuracy. For the above reasons, the inventors improved the prior art and obtained the technical solution of the present application.

[0066] The following will refer to Figure 1-13 Describe in detail the mirror assembly 100, the optical ranging device 200 and the self-propelled robot 300 according to the embodiments of the present application.

[0067] As Figure 1As shown, the self - walking robot 300 includes a robot body 310 and an optical ranging device 200. The self - walking robot 300 measures the distance to external objects through the optical ranging device 200, thereby achieving self - walking. The self - walking robot 300 can be a cleaning robot with functions such as sweeping and mopping the floor, a service robot with functions such as delivering meals and goods, a lawn mowing robot with a lawn mowing function, a handling robot for handling goods in a warehouse or factory, etc.

[0068] As Figures 2-3 shown, the optical ranging device 200 includes a base 210, an optical transceiver module 220, and a mirror assembly 100. The mirror assembly 100 is rotatably arranged on the base 210. The optical transceiver module 220 is arranged on the base 210 and is used for emitting and receiving light beams. It should be noted that in Figure 3 it, the optical transceiver module 220 is represented by a square frame, which only provides the installation position of the optical transceiver module 220 in an embodiment of the optical ranging device 200, and does not represent the shape and structure of the optical transceiver module 220.

[0069] As Figures 2-4 shown, the mirror assembly 100 includes a mirror bracket 10, a mirror 20, and at least one first light beam channel plate 30. Relative to the rotation axis z of the mirror assembly 100, the mirror 20 is inclinedly arranged on the mirror bracket 10. The first light beam channel plate 30 is fixedly connected to the mirror bracket 10. One side of at least one first light beam channel plate 30 defines an emission channel 51, and the other side of at least one first light beam channel plate 30 defines a reception channel 52. The light beam emitted by the optical transceiver module 220 is adapted to be emitted to an external object after passing through the mirror 20 and the emission channel 51 in sequence, and the light beam reflected by the external object is adapted to be received by the optical transceiver module 220 after passing through the reception channel 52 and the mirror 20 in sequence.

[0070] The mirror assembly 100 provided in the embodiment of the present application is rotatably arranged on the base 210 instead of being arranged on the upper cover as in the prior art. The electrical connection structure from the circuit board on the base 210 required during its rotation process can be simplified. And because the base 210 needs to avoid the light beam reflected by the mirror 20 and the light beam received by the mirror 20, the mirror 20 will protrude beyond the base 210, so that the angle of the mirror 20 can be adjusted during the assembly process, reducing the assembly accuracy requirements for the mirror 20, thereby reducing the processing and assembly costs. At the same time, the first light beam channel plate 30 defines the emission channel 51 and the reception channel 52, reducing the possibility of crosstalk between the emitted light beam and the received light beam. And compared with the L - shaped cylindrical beam channel member in the prior art, the plate - shaped first light beam channel plate 30 has the advantages of extremely simple structure, easy to ensure connection reliability and installation accuracy, reducing the production cost.

[0071] As Figure 2 and Figures 4-8 shown, in some embodiments, there are at least two first light beam channel plates 30. An emission channel 51 is defined between the two first light beam channel plates 30. On one side of a first light beam channel plate 30 facing away from the emission channel 51, a reception channel 52 is defined, or, on one side of the other first light beam channel plate 30 facing away from the emission channel 51, another reception channel 52 is defined, or, on one side of a first light beam channel plate 30 facing away from the emission channel 51, a reception channel 52 is defined and on one side of the other first light beam channel plate 30 facing away from the emission channel 51, another reception channel 52 is defined. By providing two first light beam channel plates 30 to define the emission channel 51, the anti-crosstalk effect of the light beam in the emission channel 51 is further ensured. It should be noted that when there are multiple first light beam channel plates 30, it is only necessary that there is one first light beam channel plate 30 with the emission channel 51 and the reception channel 52 on its two sides respectively, and it is not necessary for each first light beam channel plate 30 to define a reception channel 52.

[0072] In some embodiments, the first light beam channel plate 30 and the mirror bracket 10 are integrally formed. As Figure 5 or Figure 6 shown, in some embodiments, a first draft port 30a is defined between the ends of two adjacent first light beam channel plates 30. Along the direction away from the first draft port 30a, the distance between two adjacent first light beam channel plates 30 gradually decreases. For the light beam channel member with an L-shaped cylindrical structure in the prior art, it is impossible to integrally form with other components and can only be installed and fixed by attachment. However, the mirror assembly 100 provided in the embodiments of the present application realizes the integral formation with the mirror bracket 10 by using the plate-shaped first light beam channel plate 30, and by designing the distance between two adjacent first light beam channel plates 30 to gradually decrease along the direction away from the first draft port 30a, the demolding feasibility of the overall structure of the first light beam channel plate 30 and the mirror bracket 10 after molding is realized. It should be noted that the ends of two adjacent first light beam channel plates 30 refer to the edge portions of two first light beam channel plates 30 in the same direction, and the edge portions are not blocked by the mirror bracket 10 in this direction, so that the mold can be withdrawn along this direction.

[0073] As Figure 5As shown, in some embodiments, along the rotation axis z of the mirror assembly 100, a first draft port 30a is defined between the ends of two adjacent first light beam channel plates 30 that are away from the mirror bracket 10. And since the distance between two adjacent first light beam channel plates 30 gradually decreases in the direction away from the first draft port 30a, it is realized that during the demolding process, the mold can be removed from the first draft port 30a along the rotation axis z of the mirror assembly 100. As Figure 6 As shown, in some other embodiments, along the direction x perpendicular to the rotation axis z of the mirror assembly 100, the first draft port 30a is defined between the ends of two adjacent first light beam channel plates 30. And since the distance between two adjacent first light beam channel plates 30 gradually decreases in the direction away from the first draft port 30a, it is realized that during the demolding process, the mold can be removed from the first draft port 30a along the direction x perpendicular to the rotation axis z of the mirror assembly 100.

[0074] As Figure 7 or Figure 8 As shown, in some embodiments, the mirror assembly 100 further includes a first light transmissive member 31. The two ends of the first light transmissive member 31 are respectively connected and cooperated with two adjacent first light beam channel plates 30. That is to say, the first light transmissive member 31 is arranged in the emission channel 51, which can achieve a certain effect of preventing foreign objects in the outside world (such as dust, liquid, etc.) from entering the inside of the optical ranging device 200 through the emission channel 51. And the light transmissive design ensures that the light beam in the emission channel 51 can pass through the first light transmissive member 31 and then shoot towards an external object.

[0075] As Figure 10 As shown, in some embodiments, the first light transmissive member 31 is inclined with respect to the light emission axis of the mirror 20, that is, it has an included angle α greater than 0 and less than 90°. After the light beam passes through the emission channel 51 and reaches the first light transmissive member 31, a part of the light beam passes through the first light transmissive member 31 and shoots towards an external object, and another part of the light beam is reflected by the first light transmissive member 31 back to the emission channel 51. In order to avoid the interference of this part of the light beam reflected by the first light transmissive member 31 on the ranging result, the first light transmissive member 31 is arranged not perpendicular to the light emission axis of the mirror 20, which can make the light beam reflected by the first light transmissive member 31 not return along the original path of the light emission axis of the mirror 20, but be reflected towards a direction different from the light emission axis of the mirror 20, thereby reducing the interference on the ranging result.

[0076] In some embodiments, the included angle between the first light transmissive member 31 and the light emission axis of the mirror 20 is 50° to 89.5°, that is, α takes a value in the range of 50° to 89.5°. Specifically, as Figure 10As shown in the figure, considering that there may be a divergence angle β of about 1° during the process that the light beam emitted by the optical transceiver module 220 is reflected by the reflecting mirror 20 and propagates in the emission channel 51, in order to ensure that the first light-transmitting member 31 is not perpendicular to the light beam in the emission channel 51 as much as possible, the included angle between the first light-transmitting member 31 and the light-emitting axis of the reflecting mirror 20 can be set to be less than or equal to 89.5°. Here, 89.5° is the angle value taken according to the complementary angle of half of the 1° divergence angle. Considering that if the included angle between the first light-transmitting member 31 and the light-emitting axis of the reflecting mirror 20 is set too small, it will occupy too much space along the light-emitting axis of the reflecting mirror 20 in the emission channel 51, thus causing difficulties in the spatial layout design. Therefore, the included angle between the first light-transmitting member 31 and the light-emitting axis of the reflecting mirror 20 can be set to be greater than or equal to 50°. In some embodiments, the included angle α between the first light-transmitting member 31 and the light-emitting axis of the reflecting mirror 20 can be 55°, 60°, 65°, 70°, 75°, 80°, 85°, etc., or other angles.

[0077] As Figure 10 shown, in some embodiments, the included angle γ between the reflecting mirror 20 and the rotation axis z of the reflecting mirror assembly 100 can be set to 45°. At this time, the extending direction of the light-emitting axis of the reflecting mirror 20 is perpendicular to the rotation axis z of the reflecting mirror assembly 100. In other embodiments, the reflecting mirror 20 can be set to form an included angle greater than 45° or less than 45° with the rotation axis z of the reflecting mirror assembly 100. For example, it can take values within 43° to 47°, such as 43°, 44°, 46°, 47° or other angles. At this time, the extending direction of the light-emitting axis of the reflecting mirror 20 forms an included angle greater than 0 with the rotation radial direction of the reflecting mirror assembly 100, for example, it is 0 to 4°.

[0078] It should be noted that the first light-transmitting member 31 can be a light-transmitting plate member with uniform thickness, or a light-transmitting structure with uneven thickness. If the first light-transmitting member 31 is a light-transmitting structure with uneven thickness, the included angle between the first light-transmitting member 31 and the light-emitting axis of the reflecting mirror 20 refers to the included angle between the surface of the first light-transmitting member 31 facing the reflecting mirror 20 and the light-emitting axis of the reflecting mirror 20.

[0079] It should be noted that the direction of the light-emitting axis of the reflector 20 can be determined according to the inclination direction of the reflector 20, the light beam emission direction of the optical transceiver module 220, and the light reflection principle. Further, in some embodiments, the optical transceiver module 220 includes a transmitting component 221 and a circuit board 223. The transmitting component 221 includes a light emitter 2211, and the light emitter 2211 is disposed on the circuit board 223. Then, the light beam emission direction of the optical transceiver module 220 can be defined as the included angle between the axis of the light emitter 2211 and the board surface of the circuit board 223. Further, in some embodiments, the optical transceiver module 220 further includes a receiving component 222. The receiving component 222 includes a receiving lens 2222. When not considering the shaking occurring during the rotation of the mirror assembly 100 or when the mirror assembly 100 is in a stationary state, the axis of the light emitter 2211, the axis of the receiving lens 2222, and the rotation axis z of the mirror assembly 100 are coaxially arranged, and the axis of the light emitter 2211 is perpendicular to the board surface of the circuit board 223. That is to say, the normal direction of the board surface of the circuit board 223 can be used as the light beam emission direction of the optical transceiver module 220.

[0080] Such as Figure 2 and Figures 4-8As shown, in some embodiments, the mirror assembly 100 further includes a second light beam channel plate 40. In some embodiments, there is one second light beam channel plate 40. One second light beam channel plate 40 is disposed on a side of one first light beam channel plate 30 facing away from the emission channel 51, and a receiving channel 52 is defined between the one second light beam channel plate 40 and the one first light beam channel plate 30. In other embodiments, there are two second light beam channel plates 40. One second light beam channel plate 40 is disposed on a side of one first light beam channel plate 30 facing away from the emission channel 51, and a receiving channel 52 is defined between the one second light beam channel plate 40 and the one first light beam channel plate 30. The other second light beam channel plate 40 is disposed on a side of the other first light beam channel plate 30 facing away from the emission channel 51, and another receiving channel 52 is defined between the other second light beam channel plate 40 and the other first light beam channel plate 30. By providing the second light beam channel plate 40 and combining it with the first light beam channel plate 30 to define the receiving channel 52, the receiving effect of the light beam in the receiving channel 52 is further ensured. It should be noted that the number of the second light beam channel plates 40 can be set according to the required number of receiving channels 52. For example, if the optical transceiver module 220 is a single-transmission and single-reception paraxial design, that is, both the transmitting part and the receiving part of the optical transceiver module 220 are one and the axes are parallel or at an angle, only one emission channel 51 and one receiving channel 52 are needed, and it can be achieved by using two first light beam channel plates 30 and one second light beam channel plate 40. If the optical transceiver module 220 is a coaxial design, that is, the transmitting part and the receiving part of the optical transceiver module 220 are coaxially arranged, generally the receiving part is sleeved outside the transmitting part. Therefore, in order to ensure the reception of the light beam, two receiving channels 52 need to be provided on both sides of the emission channel 51, and it can be achieved by using two first light beam channel plates 30 in the middle and two second light beam channel plates 40 on the outside. If the optical transceiver module 220 is a single-transmission and multi-reception paraxial design or a multi-transmission and multi-reception paraxial design, then the receiving part of the optical transceiver module 220 is multiple and multiple receiving channels 52 are needed, and it can be achieved by using multiple second light beam channel plates 40.

[0081] As Figures 7-8 shown, in some embodiments, the mirror assembly 100 further includes a second light transmissive member 41. Two ends of the second light transmissive member 41 are respectively cooperatively connected with adjacent first light beam channel plates 30 and second light beam channel plates 40. That is to say, the second light transmissive member 41 is disposed in the receiving channel 52, which can achieve a certain effect of preventing foreign objects from the outside (such as dust, liquid, etc.) from entering the inside of the optical ranging device 200 through the corresponding receiving channel 52, and the light transmissive design ensures that the light beam reflected by an external object can pass through the second light transmissive member 41 and then enter the corresponding receiving channel 52.

[0082] In some embodiments, a band-pass filter layer is provided on the second light-transmitting member 41, or, along the optical path of the light beam reflected by an external object, a band-pass filter member is provided between the receiving channel 52 and the optical transceiver module 220. By providing the above-mentioned band-pass filter layer or band-pass filter member, portions outside a set wavelength range in the light beam reflected by the external object can be filtered out, thereby filtering out stray light such as natural light from entering the optical transceiver module 220 and interfering with the ranging result. It should be noted that the set wavelength range of the band-pass filter layer or band-pass filter member can be selected according to the actual parameters of the transmitter and receiver of the optical transceiver module 220, and no specific limitation is made here. In other embodiments, the second light-transmitting member 41 can be configured as a light-transmitting structure with a darker color, which has the function of filtering visible light with a smaller wavelength and allowing infrared light with a larger wavelength to pass through.

[0083] As Figure 7 shown, in some embodiments, the first light-transmitting member 31 and the second light-transmitting member 41 are integrally formed, that is, a large light-transmitting member simultaneously covers the transmitting channel 51 and the receiving channel 52, which has the advantages of simple structure and convenient assembly. As Figure 8 shown, in other embodiments, the first light-transmitting member 31 and the second light-transmitting member 41 are separately provided, which is convenient for respective assembly and selection according to the respective design requirements of the first light-transmitting member 31 and the second light-transmitting member 41, such as the tilting requirement of the first light-transmitting member 31 and the requirement for setting the filtering function of the second light-transmitting member 41.

[0084] As Figure 9 shown, in some embodiments, the optical ranging device 200 further includes an upper cover 250 for covering the mirror assembly 100. Among them, the upper cover 250 can be fixedly connected to the mirror assembly 100 and rotate together with the mirror assembly 100. At this time, one or more light-passing holes 250a can be provided on the upper cover 250. Specifically, one light-passing hole 250a can communicate with both the transmitting channel 51 and the receiving channel 52 at the same time, or multiple light-passing holes 250a can communicate with the transmitting channel 51 and the receiving channel 52 respectively to allow the light beam to leave or enter the upper cover 250. The first light-transmitting member 31 and the second light-transmitting member 41 are disposed opposite to one or more light-passing holes 250a, which can achieve a certain effect of blocking foreign objects (such as dust, liquid, etc.) from entering the interior of the optical ranging device 200 through the light-passing holes 250a. In other embodiments, the upper cover 250 can be fixedly connected to the base 210 and provided with a light-transmitting structure (not shown in the figure), and the light-transmitting structure is disposed opposite to the transmitting channel 51 and the receiving channel 52 to allow the light beam to leave or enter the upper cover 250 during the rotation of the mirror assembly 100.

[0085] In some embodiments, the first light beam channel plate 30, the second light beam channel plate 40 and the mirror support 10 are integrally formed. AsFigure 5 or Figure 6 As shown, a second draft port 40a is defined between the ends of the adjacent first light beam channel plate 30 and the second light beam channel plate 40. Along the direction away from the second draft port 40a, the distance between the adjacent first light beam channel plate 30 and the second light beam channel plate 40 gradually decreases. The mirror assembly 100 provided by the embodiment of the present application realizes integral molding with the mirror bracket 10 by adopting the plate-shaped first light beam channel plate 30 and the second light beam channel plate 40, and realizes the demolding feasibility of the overall structure of the first light beam channel plate 30, the second light beam channel plate 40 and the mirror bracket 10 after molding by designing the distance between the adjacent first light beam channel plate 30 and the second light beam channel plate 40 to gradually decrease along the direction away from the second draft port 40a. It should be noted that the ends of the adjacent first light beam channel plate 30 and the second light beam channel plate 40 refer to the edge parts of the first light beam channel plate 30 and the second light beam channel plate 40 in the same direction, and the edge parts are not blocked by the mirror bracket 10 in this direction, so that the mold can be withdrawn along this direction.

[0086] As Figure 5 shown, in some embodiments, along the rotation axis z of the mirror assembly 100, a second draft port 40a is defined between the ends of the adjacent first light beam channel plate 30 and the second light beam channel plate 40 that are away from the mirror bracket 10. And because the distance between the adjacent first light beam channel plate 30 and the second light beam channel plate 40 gradually decreases along the direction away from the second draft port 40a, it is realized that the mold can be withdrawn from the second draft port 40a along the rotation axis z of the mirror assembly 100 during the demolding process. As Figure 6 shown, in some other embodiments, along the direction x perpendicular to the rotation axis z of the mirror assembly 100, a second draft port 40a is defined between the ends of the adjacent first light beam channel plate 30 and the second light beam channel plate 40. And because the distance between the adjacent first light beam channel plate 30 and the second light beam channel plate 40 gradually decreases along the direction away from the second draft port 40a, it is realized that the mold can be withdrawn from the second draft port 40a along the direction x perpendicular to the rotation axis z of the mirror assembly 100 during the demolding process.

[0087] As Figure 2 shown, in some embodiments, along the rotation axis z of the mirror assembly 100, at least part of the first light beam channel plate 30 is located on the side of the mirror 20 close to the mirror bracket 10, that is to say, the distance between the first light beam channel plate 30 and the mirror 20 is set relatively close, further reducing the possibility of crosstalk between the light beam emitted from the optical transceiver module 220 and the light beam reflected back by an external object near the mirror 20.

[0088] As Figure 11As shown in parts a and b, in some embodiments, a slot 21 is provided on the reflector 20, and at least a portion of the first light beam channel plate 30 is accommodated in the slot 21, thereby further reducing the possibility of crosstalk between the light beam emitted from the optical transceiver module 220 and the light beam reflected by external objects near the reflector 20.

[0089] like Figure 11 In the part a shown, in some embodiments, the mirror surface of the reflector 20 includes a transmitting mirror surface 22 and a receiving mirror surface 23, and a slot 21 is provided between the transmitting mirror surface 22 and the receiving mirror surface 23. Along the extension direction of the slot 21, the width of the transmitting mirror surface 22 can be equal to the width of the receiving mirror surface 23. For example, after the slot 21 is machined on a complete square reflecting mirror surface, a transmitting mirror surface 22 and a receiving mirror surface 23 with equal widths are naturally formed; along the extension direction of the slot 21, the width of the transmitting mirror surface 22 can be smaller than the width of the receiving mirror surface 23. Since the reflection area required by the transmitting mirror surface 22 is smaller than the reflection area required by the receiving mirror surface 23, after the slot 21 is machined on a complete reflecting mirror surface and the transmitting mirror surface 22 and the receiving mirror surface 23 are obtained, part of the transmitting mirror surface 22 can be cut off, or the transmitting mirror surface 22 and the receiving mirror surface 23 that are independent of each other and have different widths are directly used, and the slot 21 is formed by spacing, so that the part of the transmitting mirror surface 22 that is shorter than the receiving mirror surface 23 is formed into a certain avoidable space for the convenience of structural layout design.

[0090] like Figure 4 and Figure 6 As shown, in some embodiments, the reflector bracket 10 is provided with a light beam outlet 10a and a light beam inlet 10b, and the light beam outlet 10a and the light beam inlet 10b are both located on the side of the reflector 20 close to the reflector bracket 10, and the light beam emitted by the optical transceiver module 220 is suitable for passing through the light beam outlet 10a, the reflector 20 and the transmitting channel 51 in sequence to emit to the external object, and the light beam reflected by the external object is suitable for passing through the receiving channel 52, the reflector 20 and the light beam inlet 10b in sequence to be received by the optical transceiver module 220. By providing the light beam outlet 10a and the light beam inlet 10b on the reflector bracket 10, it is ensured that the reflector bracket 10 used for supporting the reflector 20 can allow the light beam to pass between the reflector 20 and the light transceiver module 220, so that the reflector bracket 10 itself also plays a certain role in preventing interference from external natural light.

[0091] like Figure 12As shown, in some embodiments, a light-shielding member 11 is provided on the mirror bracket 10. The light-shielding member 11 is located on the side of the mirror 20 close to the mirror bracket 10 along the rotation axis of the mirror assembly 100. A part of the light-shielding member 11 is used to sleeve a part of the optical transceiver module 220. The light beam outlet 10a is provided on the light-shielding member 11, and the light beam inlet 10b is provided outside the light-shielding member 11. The light-shielding member 11 is fixedly connected to the first light beam channel plate 30. By providing the light-shielding member 11, the possibility of crosstalk between the light beam emitted from the optical transceiver module 220 and the light beam reflected back by an external object at the light beam outlet 10a and the light beam inlet 10b is further reduced. In some embodiments, the optical transceiver module 220 has a transmitting end, and a part of the light-shielding member 11 is sleeved on the transmitting end of the optical transceiver module 220. In some embodiments, the light-shielding member 11 is integrally formed with the mirror bracket 10.

[0092] As Figure 12 shown, in some embodiments, the optical transceiver module 220 includes a transmitting assembly 221 and a receiving assembly 222. The light beam of the optical transceiver module 220 is emitted from the transmitting assembly 221 and then passes through the mirror 20 and the transmitting channel 51 in sequence to irradiate an external object. The light beam reflected by the external object passes through the receiving channel 52 and the mirror 20 in sequence and is received by the receiving assembly 222. In some embodiments, the optical transceiver module 220 is designed based on the time-of-flight principle, that is, the distance between the external object and the optical ranging device 200 is calculated according to the time difference or phase difference between the light beam emitted by the transmitting assembly 221 and the corresponding light beam received by the receiving assembly 222; in other embodiments, the optical transceiver module 220 is designed based on the trigonometric geometry principle, and the distance between the external object and the optical ranging device 200 is calculated through trigonometric geometric relationships according to the direction of the light beam emitted by the transmitting assembly 221, the tilt direction of the mirror 20, the position on the receiving assembly 222 where the corresponding light beam is received, the relative position between the transmitting assembly 221 and the receiving assembly 222, etc.

[0093] As Figure 12 shown, in some embodiments, the transmitting assembly 221 includes a light emitter 2211 and a transmitting lens 2212. After the light emitter 2211 emits a light beam, it is collimated by the transmitting lens 2212 and then exits to the mirror 20. As Figure 12 shown, in some embodiments, the receiving assembly 222 includes a light receiver 2221 and a receiving lens 2222. The receiving lens 2222 focuses the received light beam and then transmits it to the light receiver 2221. Among them, according to the spatial layout design requirements and optical performance requirements of the optical ranging device 200, the transmitting assembly 221 can be selected to be partially or wholly disposed on the light-incident side, inside or light-emitting side of the receiving lens 2222.

[0094] In some embodiments, along the propagation path of the light beam, one or more optical path adjustment elements may be disposed between the light emitter 2211 and the emission lens 2212, and between the light receiver 2221 and the receiving lens 2222 to adjust the propagation path of the light beam by means of reflection, refraction, beam splitting, etc., thereby optimizing the spatial layout design of the optical ranging device 200. For example, referring to Figure 12 , in some embodiments, the receiving assembly 222 further includes a receiving optical path adjustment element 2223 having a reflecting surface. The receiving optical path adjustment element 2223 is disposed outside the light-emitting side of the receiving lens 2222, such that after the light beam is focused by the receiving lens 2222, it is transmitted to the reflecting surface of the receiving optical path adjustment element 2223, and then the light beam is reflected by the reflecting surface of the receiving optical path adjustment element 2223 and reaches the light receiver 2221, thereby reducing the size required for the receiving assembly 222 to meet the focal length requirements of the receiving lens 2222. Further, the optical transceiver module 220 further includes a circuit board 223. By reasonably setting the position of the receiving optical path adjustment element 2223, the light emitter 2211 and the light receiver 2221 can be respectively disposed on both sides of the circuit board 223, improving the structural compactness of the optical transceiver module 220.

[0095] As Figure 12 shown, in some embodiments, the axis of the receiving assembly 222, the axis of the transmitting assembly 221, and the rotation axis z of the mirror assembly 100 are coaxially disposed. It should be noted that since one or more optical path adjustment elements may be disposed between the light emitter 2211 and the emission lens 2212, and between the light receiver 2221 and the receiving lens 2222, the coaxial setting of at least a part of the axis of the receiving assembly 222, at least a part of the axis of the transmitting assembly 221, and the rotation axis z of the mirror assembly 100 means that there is a section of the axis in at least one section of the axis of the light beam in the receiving assembly 222 that has not been adjusted by reflection, refraction, beam splitting, etc. of the optical path adjustment element and is coaxially disposed with the rotation axis z of the mirror assembly 100, and there is a section of the axis in at least one section of the axis of the light beam in the transmitting assembly 221 that has not been adjusted by reflection, refraction, beam splitting, etc. of the optical path adjustment element and is coaxially disposed with the rotation axis z of the mirror assembly 100. In some embodiments, the axis of the emitted light beam of the light emitter 2211, the axis of the emission lens 2212, the rotation axis z of the mirror assembly 100, the axis of the receiving lens 2222, and the light receiver 2221 are coaxially disposed. It should be noted that the relative positional relationship between the axis of the receiving assembly 222, the axis of the transmitting assembly 221, the axis of the emitted light beam of the light emitter 2211, the axis of the emission lens 2212, the rotation axis z of the mirror assembly 100, the axis of the receiving lens 2222, the light receiver 2221, etc. is the relative positional relationship when the shaking occurring during the rotation of the mirror assembly 100 is not considered, or when the mirror assembly 100 is in a stationary state.

[0096] As Figure 14 shown, in some embodiments, a light-shielding rib 250b is provided on one side of the upper cover 250 close to the first light beam channel plate 30. The light-shielding rib 250b extends from the upper cover 250 into the emission channel 51 or the reception channel 52, so as to cover the gap between the upper cover 250 and the first light beam channel plate 30 in a direction perpendicular to the rotation axis of the mirror assembly 100, thereby further reducing the possibility of beam crosstalk between the emission channel 51 and the reception channel 52.

[0097] In some embodiments, there are two light-shielding ribs 250b, and the two light-shielding ribs 250b are respectively arranged corresponding to the two first light beam channel plates 30. Specifically, in some embodiments, as Figure 14 shown in part a, one light-shielding rib 250b can be located on one side of one first light beam channel plate 30 close to the other first light beam channel plate 30 and extend from the upper cover 250 into the emission channel 51, and the other light-shielding rib 250b can be located on one side of the other first light beam channel plate 30 close to the one first light beam channel plate 30 and extend from the upper cover 250 into the emission channel 51; or, in some other embodiments, as Figure 14 shown in part b, one light-shielding rib 250b can be located on one side of one first light beam channel plate 30 close to the other first light beam channel plate 30 and extend from the upper cover 250 into the emission channel 51, and the other light-shielding rib 250b can be located on one side of the other first light beam channel plate 30 away from the one first light beam channel plate 30 and extend from the upper cover 250 into the reception channel 52; or, in some other embodiments, as Figure 14 shown in part c, one light-shielding rib 250b can be located on one side of one first light beam channel plate 30 away from the other first light beam channel plate 30 and extend from the upper cover 250 into the reception channel 52, and the other light-shielding rib 250b can be located on one side of the other first light beam channel plate 30 away from the one first light beam channel plate 30 and extend from the upper cover 250 into the reception channel 52.

[0098] As Figure 13 shown, in some embodiments, the mirror assembly 100 further includes a rotating base 60. The rotating base 60 is rotatably arranged on the base 210, and the rotating base 60 and the mirror bracket 10 are integrally formed. That is to say, a structural member with both the functions of rotational connection and support for the mirror 20 can be produced at one time by integral forming, saving the steps and costs of connecting two functional components.

[0099] As Figure 13As shown, in some embodiments, the base 210 is provided with a bearing 211 and a lower bearing mounting seat 212. When the rotating seat 60 and the reflector bracket 10 are integrally formed, along the rotation axis z of the reflector assembly 100, the rotating seat 60 is arranged between the reflector bracket 10 and the base 210, and the rotating seat 60 is provided with a first upper bearing mounting seat 61 with an opening facing the base 210, and the bearing 211 is arranged between the first upper bearing mounting seat 61 and the lower bearing mounting seat 212. Among them, the opening of the first upper bearing mounting seat 61 refers to the opening for installing the bearing 211 into the first upper bearing mounting seat 61, that is, the bearing 211 is installed into the first upper bearing mounting seat 61 from the side of the rotating seat 60 close to the base 210. As shown Figure 1 As shown, in some embodiments, the first upper bearing mounting seat 61 and the lower bearing mounting seat 212 axially limit the bearing 211 through a snap-fit structure.

[0100] like Figure 3 As shown, in other embodiments, the rotating seat 60 and the mirror bracket 10 are separately arranged and fixedly connected, that is, the rotating seat 60 and the mirror bracket 10 can be independently designed and processed according to their respective functions to be realized, which reduces the design difficulty of meeting the demoulding requirements compared to the one-piece molded structure.

[0101] like Figure 3 As shown, in other embodiments, when the rotating seat 60 and the reflector bracket 10 are separately arranged and fixedly connected, along the rotation axis z of the reflector assembly 100, the rotating seat 60 is arranged between the reflector bracket 10 and the base 210, and the rotating seat 60 is provided with a second upper bearing mounting seat 62 with an opening facing the reflector bracket 10, and the bearing 211 is arranged between the second upper bearing mounting seat 62 and the lower bearing mounting seat 212. Among them, the opening of the second upper bearing mounting seat 62 refers to the opening for installing the bearing 211 into the second upper bearing mounting seat 62, that is, the bearing 211 is installed into the second upper bearing mounting seat 62 from the side of the rotating seat 60 away from the base 210. Figure 1 As shown, in some embodiments, the second upper bearing mounting seat 62 and the lower bearing mounting seat 212 axially limit the bearing 211 through a snap-fit structure.

[0102] In some embodiments, the optical distance measuring device 200 further includes a driving assembly 230 for driving the rotating base 60 to rotate. According to the design requirements of the spatial arrangement of the optical distance measuring device 200, the driving assembly 230 can be coaxially arranged and directly connected to the rotating base 60. For example, the driving assembly 230 is a motor, the stator of the motor is arranged on the base 210, the rotor of the motor is arranged on the rotating base 60, and the rotor rotates due to the electromagnetic action between the stator and the rotor of the motor and drives the rotating base 60 to rotate relative to the base 210; the driving assembly 230 can also be coaxially arranged and transmission-connected through a transmission assembly. The driving assembly 230 is a motor, and the output shaft of the motor and the rotating base 60 are transmission-connected through a transmission assembly, where the transmission assembly can be a constant velocity transmission structure, a variable velocity transmission structure, or a one-way transmission structure; as Figure 3 or Figure 13 shown, the driving assembly 230 can also be non-coaxially arranged with the rotating base 60, and the driving assembly 230 is arranged parallel to the rotating base 60. When the distance between the driving assembly 230 and the rotating base 60 is relatively close, a gear or the like can be used as the transmission assembly for transmission connection. When there is a certain interval between the driving assembly 230 and the rotating base, a multi-group gear structure, a belt transmission structure, or a chain transmission structure can be used as the transmission assembly for transmission connection.

[0103] In some embodiments, the optical distance measuring device 200 further includes an encoding assembly, which includes an encoding detection unit 241 and a plurality of encoding units 242. The encoding detection unit 241 is arranged on the base 210. Specifically, as Figure 12 shown, the encoding detection unit 241 is arranged on the circuit board 223. As Figure 3 or Figure 13 shown, the plurality of encoding units 242 are circumferentially and spacedly arranged on the side of the rotating base 60 close to the base 210 around the rotation axis of the mirror assembly 100. The encoding detection unit 241 cooperates with the plurality of encoding units 242 to detect the rotation angle and / or rotation speed of the rotating base 60 relative to the base 210. By arranging the encoding detection unit 241 on the base 210 and arranging the plurality of encoding units 242 on the rotating base 60, no electrical components are arranged on the mirror assembly 100 that rotates relative to the base 210, while at least one electrical component among the light emitter 2211, the light receiver 2221, the encoding detection unit 241, and the driving assembly 230 is arranged on the relatively fixed base 210. That is to say, only a circuit board needs to be arranged on the base 210 without arranging a circuit board on the mirror assembly 100, thereby eliminating the wireless power transmission components commonly used in existing lidars that are arranged between the fixed part and the rotating part.

[0104] The other components and operations of the rearview mirror assembly 100, the optical ranging device 200, and the self-propelled robot 300 according to the embodiments of the present application are known to those of ordinary skill in the art and will not be described in detail here.

[0105] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0106] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A rearview mirror assembly rotatably disposed on the base of an optical ranging device, characterized in that, The mirror assembly includes: A mirror bracket; A mirror, which is inclinedly arranged on the mirror bracket relative to the rotation axis of the mirror assembly; At least one first light beam channel plate, which is fixedly connected to the mirror bracket; one side of at least one of the first light beam channel plates defines an emission channel, and the other side of at least one of the first light beam channel plates defines a reception channel; The light beam emitted by the light transceiver module of the optical ranging device is adapted to pass through the mirror and the emission channel in sequence and then be emitted to an external object, and the light beam reflected by the external object is adapted to pass through the reception channel and the mirror in sequence and then be received by the light transceiver module.

2. The rearview mirror assembly according to claim 1, wherein, There are at least two of the first light beam channel plates; The emission channel is defined between two of the first light beam channel plates; One reception channel is defined on the side of one of the first light beam channel plates facing away from the emission channel, and / or another reception channel is defined on the side of the other first light beam channel plate facing away from the emission channel.

3. The rearview mirror assembly according to claim 2, wherein, The first light beam channel plate is integrally formed with the mirror bracket; a first draft angle is defined between the ends of two adjacent first light beam channel plates, and the distance between two adjacent first light beam channel plates gradually decreases in a direction away from the first draft angle.

4. The mirror assembly according to claim 3, wherein The first draft angle is defined between the ends of two adjacent first light beam channel plates that are away from the mirror bracket along the rotation axis of the mirror assembly; Or, The first draft angle is defined between the ends of two adjacent first light beam channel plates along a direction perpendicular to the rotation axis of the mirror assembly.

5. The rearview mirror assembly according to claim 2, wherein, The mirror assembly further includes a first light transmissive member, and both ends of the first light transmissive member are respectively connected to two adjacent first light beam channel plates in a mating manner; the light beam in the emission channel is adapted to pass through the first light transmissive member and then be emitted to an external object.

6. The mirror assembly according to claim 5, characterized in that, There is an angle of 50° to 89.5° between the first light transmissive member and the light emission axis of the mirror.

7. The rearview mirror assembly according to claim 2, wherein, It further includes a second light beam channel plate; There is one second light beam channel plate, and one second light beam channel plate is arranged on the side of one of the first light beam channel plates facing away from the emission channel and defines a reception channel with one of the first light beam channel plates; Or, there are two second light beam channel plates, one second light beam channel plate is arranged on the side of one of the first light beam channel plates facing away from the emission channel and defines a reception channel with one of the first light beam channel plates, and the other second light beam channel plate is arranged on the side of the other first light beam channel plate facing away from the emission channel and defines another reception channel with the other first light beam channel plate.

8. The rearview mirror assembly according to claim 7, wherein, It further includes a second light transmissive member, and both ends of the second light transmissive member are respectively connected to the adjacent first light beam channel plate and the second light beam channel plate in a mating manner; The light beam reflected by the external object is adapted to pass through the second light transmissive member and then enter the corresponding reception channel.

9. The rearview mirror assembly according to claim 8, characterized in that, A band-pass filter layer is provided on the second light-transmitting member, or, along the optical path of the light beam reflected by an external object, a band-pass filter member is provided between the receiving channel and the optical transceiver module.

10. The rearview mirror assembly according to claim 8, characterized in that, The mirror assembly further includes a first light-transmitting member, and two ends of the first light-transmitting member are respectively connected to two adjacent first light beam channel plates in a matching manner; the light beam in the emission channel is adapted to pass through the first light-transmitting member and then be emitted to an external object; Wherein, the first light-transmitting member and the second light-transmitting member are integrally formed, or the first light-transmitting member and the second light-transmitting member are separately provided.

11. The rearview mirror assembly according to claim 7, wherein, The first light beam channel plate, the second light beam channel plate and the mirror support are integrally formed; a second draft port is defined between ends of two adjacent first light beam channel plates and second light beam channel plates, and along a direction away from the second draft port, the distance between two adjacent first light beam channel plates and second light beam channel plates gradually decreases.

12. The mirror assembly according to claim 11, wherein Along the rotation axis of the mirror assembly, a second draft port is defined between ends of two adjacent first light beam channel plates and second light beam channel plates that are away from the mirror support; Or Along a direction perpendicular to the rotation axis of the mirror assembly, a second draft port is defined between ends of two adjacent first light beam channel plates and second light beam channel plates.

13. The rearview mirror assembly according to claim 1, wherein, Along the rotation axis of the mirror assembly, at least a part of the first light beam channel plate is located on a side of the mirror close to the mirror support.

14. The rearview mirror assembly according to claim 13, characterized in that, A card slot is provided on the mirror, and at least a part of the first light beam channel plate is received in the card slot.

15. The rearview mirror assembly according to claim 14, characterized in that, The mirror surface of the mirror includes an emission mirror surface and a receiving mirror surface, and the card slot is provided between the emission mirror surface and the receiving mirror surface; Along the extending direction of the card slot, the width of the emission mirror surface is less than or equal to the width of the receiving mirror surface.

16. The rearview mirror assembly according to claim 1, wherein, A light beam outlet and a light beam inlet are provided on the mirror support, and both the light beam outlet and the light beam inlet are located on a side of the mirror close to the mirror support. The light beam emitted by the optical transceiver module is adapted to be emitted to an external object after passing through the light beam outlet, the mirror and the emission channel in sequence, and the light beam reflected by the external object is adapted to be received by the optical transceiver module after passing through the receiving channel, the mirror and the light beam inlet in sequence.

17. The rearview mirror assembly according to claim 16, wherein, A light-shielding member is provided on the mirror support. The light-shielding member is located on a side of the mirror close to the mirror support along the rotation axis of the mirror assembly. A part of the light-shielding member is used for sleeving a part of the optical transceiver module. The light beam outlet is provided on the light-shielding member, the light beam inlet is provided outside the light-shielding member, and the light-shielding member is fixedly connected to the first light beam channel plate.

18. An optical ranging device, characterized in that, It includes a base, an optical transceiver module, and a reflecting mirror assembly according to any one of claims 1-17; the reflecting mirror assembly is rotatably arranged on the base; the optical transceiver module is arranged on the base and is used for emitting and receiving light beams; the light beam emitted by the optical transceiver module sequentially passes through the reflecting mirror and the emission channel and then is emitted to an external object, and the light beam after being reflected by the external object sequentially passes through the receiving channel and the reflecting mirror and then is received by the optical transceiver module.

19. The optical ranging device according to claim 18, wherein, The optical transceiver module includes a transmitting component and a receiving component; The light beam of the optical transceiver module is emitted from the transmitting component and sequentially passes through the reflecting mirror and the emission channel and then is emitted to an external object, and the light beam after being reflected by the external object sequentially passes through the receiving channel and the reflecting mirror and then is received by the receiving component.

20. The optical distance measuring device according to claim 19, characterized in that, At least part of the axis of the receiving component, at least part of the axis of the transmitting component, and the rotation axis of the reflecting mirror assembly are coaxially arranged.

21. The optical distance measuring device according to claim 18, wherein, It further includes an upper cover which covers the reflecting mirror assembly and is fixedly connected to the reflecting mirror assembly; a light shielding rib is arranged on one side of the upper cover close to the first light beam channel plate, and the light shielding rib extends from the upper cover into the emission channel or the receiving channel to cover the gap between the upper cover and the first light beam channel plate in a direction perpendicular to the rotation axis of the reflecting mirror assembly.

22. The optical distance measuring device according to claim 18, characterized in that, The reflecting mirror assembly further includes a rotating base which is rotatably arranged on the base; the rotating base is integrally formed with the reflecting mirror bracket, or the rotating base is separately arranged from the reflecting mirror bracket and fixedly connected.

23. The optical ranging device according to claim 22, wherein The base is provided with a bearing and a lower bearing mounting seat; When the rotating base is integrally formed with the reflecting mirror bracket, along the rotation axis of the reflecting mirror assembly, the rotating base is arranged between the reflecting mirror bracket and the base, the rotating base is provided with a first upper bearing mounting seat with an opening facing the base, and the bearing is arranged between the first upper bearing mounting seat and the lower bearing mounting seat; Or, When the rotating base is separately arranged from the reflecting mirror bracket and fixedly connected, along the rotation axis of the reflecting mirror assembly, the rotating base is arranged between the reflecting mirror bracket and the base, the rotating base is provided with a second upper bearing mounting seat with an opening facing the reflecting mirror bracket, and the bearing is arranged between the second upper bearing mounting seat and the lower bearing mounting seat.

24. The optical distance measuring device according to claim 22, wherein, It further includes a coding component which includes a coding detection unit and a plurality of coding units, and the coding detection unit is arranged on the base; The plurality of coding units are circumferentially and spacedly arranged on one side of the rotating base close to the base around the rotation axis of the reflecting mirror assembly, and the coding detection unit cooperates with the plurality of coding units to detect the rotation angle and / or rotation speed of the rotating base relative to the base.

25. A self-propelled robot, characterized in that, It includes a robot body and an optical ranging device according to any one of claims 18-24.

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