Optical distance measuring device and mobile robot

Abstract

The utility model is applicable to the technical field of laser ranging, and provides an optical ranging device and a mobile robot, the optical ranging device comprises a base and a middle shell, the middle shell is rotatably mounted on the base, the base forms an avoidance space, the avoidance space extends to one side deviating from the middle shell along a first direction, the first direction is parallel to the rotation axis of the middle shell, and the rotation axis of the middle shell is parallel to the rotation axis of the middle shell. The side end, close to the base, of the middle shell in the first direction is provided with a coding disc, and the coding disc extends into the avoiding space. The space occupied by the coding disc in the first direction at least partially coincides with the space occupied by the base in the first direction, and the overall thickness of the optical distance measuring device is reduced. After the optical distance measuring device is applied to the mobile robot, the arrangement space occupied by the optical distance measuring device in the mobile robot can be effectively reduced.

Description

[0001] This application claims priority to patent application number 202422665054.1 filed on October 31, 2024, entitled “An Optical Ranging Device and Mobile Robot,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the technical field of optical ranging, and more specifically, to an optical ranging device and a mobile robot. Background Art

[0003] With the continuous advancement of technology, smart home products are becoming increasingly popular. Robotic sweepers, as a representative example of these smart home products, have brought significant convenience to people's lives. Robotic sweepers typically use lidar (LiDAR) to detect external obstacles and help them avoid them. LiDAR primarily consists of a laser transceiver component that rotates relative to the robot's main body. This component transmits and receives reflected laser beams to detect the location of external obstacles.

[0004] However, most laser radars currently have large dimensions in the extension direction of the rotation axis of the laser transceiver assembly, occupying a large amount of layout space inside the sweeping robot. Utility Model Content

[0005] The purpose of the embodiments of the present application is to provide an optical ranging device and a mobile robot, aiming to solve the technical problem in the prior art that the optical ranging device has a large axial size and occupies a large amount of layout space inside the mobile robot.

[0006] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide an optical ranging device, comprising a base and a middle shell, wherein the middle shell is rotatably mounted on the base, and an avoidance space is formed on the base, wherein the avoidance space extends along a first direction toward a side away from the middle shell, and the first direction is parallel to the rotation axis of the middle shell, and an encoding disk is provided at one end of the middle shell close to the base in the first direction, and the encoding disk extends into the avoidance space.

[0007] In one possible design, the base includes a substrate, an annular structure and an avoidance structure. The annular structure is arranged around the periphery of the substrate and is spaced apart from the substrate. The avoidance structure is located between the substrate and the annular structure and is respectively connected to the substrate and the annular structure. The avoidance structure forms an avoidance groove, and the avoidance space includes the space within the avoidance groove; the middle shell is rotatably mounted on the substrate, and at least part of the encoding disk extends into the avoidance groove.

[0008] In one possible design, the substrate defines a first area and a second area spaced apart along the first direction, the middle shell is located in the first area, and the optical ranging device further includes a circuit board and a sensor, the circuit board is mounted in the second area, and the sensor is mounted on the circuit board and is used to detect the rotation angle and / or rotation speed of the middle shell;

[0009] An avoidance hole is formed between the substrate and the annular structure, the first area and the second area are connected through the avoidance hole, the avoidance space also includes the space inside the avoidance hole, and the avoidance hole accommodates at least part of the sensor and / or the encoding disk.

[0010] In a possible design, there are multiple avoidance structures, and the multiple avoidance structures are arranged at intervals around the rotation axis of the middle shell, and one avoidance hole is formed between any two adjacent avoidance structures.

[0011] One of the avoidance holes is at least used to avoid at least part of the sensor and / or the encoding disk; electronic components are also installed on the circuit board, and at least one of the other avoidance holes is used to avoid the electronic components.

[0012] In a possible design, the base plate has a first end surface facing the middle shell;

[0013] The sensor is located on a side of the first end surface facing away from the middle shell, or a side of the sensor close to the middle shell is flush with the first end surface, or part of the sensor is located on a side of the first end surface close to the middle shell and part of the sensor is located on a side of the first end surface facing away from the middle shell.

[0014] In a possible design, a via is formed on the circuit board, and the avoidance structure is disposed through the via.

[0015] In a possible design, the base plate has a second end surface facing away from the middle shell;

[0016] Part of the avoidance structure is located on the side of the second end face away from the middle shell, the bottom wall of the avoidance groove is located on the side of the second end face away from the middle shell, and at least part of the encoding disk is located on the side of the second end face away from the middle shell.

[0017] In a possible design, the avoidance structure is further formed with a reinforcement portion, and the reinforcement portion is located on a side of the avoidance structure away from the avoidance groove.

[0018] In a possible design, the base further includes an outer cylinder, which is a cylindrical structure. The annular structure is protrudingly provided on the inner wall of the outer cylinder, and the reinforcement portion is respectively connected to the base plate and the annular structure.

[0019] In a possible design, the reinforcement portion is provided with a connecting structure, and the connecting structure is used to be connected to an external structure of the optical ranging device.

[0020] In a possible design, the radial width of the avoidance groove gradually increases in a direction approaching the middle shell.

[0021] In a possible design, one of the base plate and the middle shell is provided with a mounting cylinder, and the other is provided with a rotating shaft, the rotating shaft is inserted into the mounting cylinder and is rotatably connected via a bearing; and / or,

[0022] The optical distance measuring device further includes a stator and a rotor. The stator is mounted on the substrate and sleeved on the outer side of the rotating shaft. The rotor is mounted on the middle shell. The stator is used to drive the rotor and the middle shell to rotate around the rotation axis.

[0023] The present application also provides a mobile robot, comprising a body and an optical ranging device provided by any of the above technical solutions, wherein the optical ranging device is installed on the body.

[0024] The beneficial effect of the optical ranging device provided by the present application is that, compared with the prior art, the optical ranging device of the present application, by providing an avoidance space on the base, the avoidance space extends along the first direction toward the side away from the middle shell, and the code disk is provided on a side of the middle shell close to the base, so that the code disk is extended into the avoidance space, so that the space occupied by the code disk in the first direction and the space occupied by the base in the first direction at least partially overlap, thereby reducing the space occupied by the entire optical ranging device in the first direction, that is, reducing the overall thickness of the optical ranging device.

[0025] The optical ranging device provided in the present application can be applied to a mobile robot. Since the optical ranging device provided in the present application is relatively thin, when the optical ranging device is applied to a mobile robot, the layout space occupied by the optical ranging device in the mobile robot can be effectively reduced.

[0026] The beneficial effects of the mobile robot provided by the present application are: compared with the prior art, since the mobile robot of the present application includes the optical ranging device provided by any of the above technical solutions, it has at least all the above beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] Figure 1 is a schematic structural diagram of an optical distance measuring device provided by one embodiment of the present application;

[0029] Figure 2 This is a schematic diagram of an exploded view of parts of an optical distance measuring device provided by one embodiment of the present application;

[0030] Figure 3 yes Figure 1 A schematic cross-sectional view of the optical distance measuring device along the AA direction;

[0031] Figure 4 yes Figure 3 A partial enlarged schematic diagram of point D in the middle;

[0032] Figure 5 This is a schematic structural diagram of a base in an optical distance measuring device provided by an embodiment of the present application from one perspective;

[0033] Figure 6 yes Figure 3 A partial enlarged schematic diagram of point C in the middle;

[0034] Figure 7 yes Figure 5 A schematic cross-sectional view of the optical distance measuring device along the BB direction;

[0035] Figure 8 This is a schematic structural diagram of a base in an optical distance measuring device provided by an embodiment of the present application from another perspective;

[0036] Figure 9 This is a schematic diagram of the assembly of a circuit board, a sensor, and some electronic components in an optical distance measuring device provided in one embodiment of the present application.

[0037] The reference numerals used in the above drawings are as follows:

[0038] 100, base; 110, outer cylinder; 112, annular structure; 113, first zone; 114, second zone; 120, base plate; 121, mounting tube; 130, avoidance structure; 131, avoidance groove; 140, avoidance hole; 150, reinforcement portion; 160, connection structure; 170, main body;

[0039] 200, middle shell; 210, cylindrical portion; 211, encoder disk; 220, plate body; 230, rotating shaft; 240, bearing;

[0040] 300, optical transceiver assembly;

[0041] 400, rotating electrical machine; 410, stator; 420, rotor;

[0042] 500, circuit board; 510, sensor; 511, sensing area; 520, electronic components; 530, via; 600, upper cover; 610, light-transmitting portion. DETAILED DESCRIPTION

[0043] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to 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 intended to limit this application.

[0044] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0045] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the structure or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0047] In order to illustrate the technical solution described in this application, the following is a detailed description with reference to specific drawings and embodiments.

[0048] like Figures 1 to 3As shown, one embodiment of the present application provides an optical ranging device, comprising a base 100 and a middle shell 200. The middle shell 200 is rotatably mounted on the base 100. The base 100 defines a clearance space, which extends along a first direction away from the middle shell 200. The first direction is parallel to the rotation axis of the middle shell 200. An encoding disk 211 is provided at one end of the middle shell 200 proximate the base 100 in the first direction. The encoding disk 211 extends into the clearance space. Optionally, the first direction can be parallel to the vertical direction or at a certain angle to the vertical direction. For ease of description, the following description will use the first direction being parallel to the vertical direction as an example. Optionally, the encoding disk 211 and the middle shell 200 can be connected by snapping, welding, gluing, or integral molding. In one example, the encoding disk 211 and the middle shell 200 are integrally connected by integral molding, such as integral injection molding or integral casting, to form a single structure.

[0049] In the optical ranging device provided in an embodiment of the present application, an escape space is provided on the base 100, the escape space extending along the first direction toward a side away from the middle shell 200, and the code disk 211 is provided on a side of the middle shell 200 close to the base 100, so that the code disk 211 extends into the escape space. In this way, the space occupied by the code disk 211 in the first direction at least partially overlaps with the space occupied by the base 100 in the first direction. In this way, the space occupied by the entire optical ranging device in the first direction can be reduced, that is, the overall thickness of the optical ranging device can be thinned.

[0050] The optical ranging device provided in the embodiments of the present application can be applied to a mobile robot. Due to its relatively thin thickness, when applied to a mobile robot, the optical ranging device can effectively reduce the space occupied by the device. Alternatively, the optical ranging device can be a laser ranging device, an infrared ranging device, or the like. Alternatively, the mobile robot can be, but is not limited to, a sweeping robot or other mobile robot.

[0051] In one example, see Figure 2 and Figure 3 The optical ranging device is a laser ranging device. For example, the optical ranging device is a laser radar. The optical ranging device also includes an optical transceiver assembly 300. The optical transceiver assembly 300 is used to transmit and receive laser beams. The optical transceiver assembly 300 is mounted on the middle shell 200. When the middle shell 200 rotates relative to the base 100, it can drive the optical transceiver assembly 300 to rotate, so that the optical transceiver assembly 300 can transmit and receive laser beams to the outside world.

[0052] In an embodiment of the present application, the optical ranging device further comprises a rotating motor 400, which is mounted on the base 100 and is in transmission connection with the middle shell 200. The rotating motor 400 is used to drive the middle shell 200 to rotate about a rotation axis. In one example, the optical ranging device further comprises a stator 410 and a rotor 420. The stator 410 is mounted on the base 100, and the rotor 420 is mounted on the middle shell 200. The stator 410 is used to drive the rotor 420 and the middle shell 200 to rotate about the rotation axis. In this example, the rotating motor 400 comprises the stator 410 and rotor 420 described above. The stator 410 drives the rotor 420 to rotate about the rotation axis, thereby driving the middle shell 200 to rotate about the rotation axis relative to the base 100.

[0053] In the embodiment of the present application, the middle housing 200 can be cylindrical or other shaped. The middle housing 200 has at least an annular portion, the axis of which serves as the rotational axis of the middle housing 200. The code disk 211 is formed on a side of the annular portion that is proximal to the base 100 in the first direction. In one specific example, the middle housing 200 includes a cylindrical portion 210 and a plate portion 220. The cylindrical portion 210 is cylindrical and serves as the annular portion of the middle housing 200. The plate portion 220 is a plate-like structure that covers an opening on the side of the cylindrical portion 210 that is distal to the base 100. The optical transceiver assembly 300 is mounted on the side of the plate portion 220 that faces away from the base 100. The rotor 420 of the rotary motor 400 is connected to the cylindrical portion 210. The rotary motor 400 drives the cylindrical portion 210 to rotate about the rotational axis, thereby driving the plate portion 220 and the optical transceiver assembly 300 to rotate about the rotational axis. In this example, the code disk 211 is specifically formed on a side surface of the cylindrical portion 210 facing away from the plate portion 220 .

[0054] The optical distance measuring device further includes a circuit board 500 and a sensor 510. The circuit board 500 is mounted on the base 100. The sensor 510 is electrically connected to the circuit board 500 and is directly or indirectly mounted on the base 100. Optionally, the sensor 510 can be a through-beam sensor or a reflective sensor.

[0055] In one example, the sensor 510 is a beam sensor. This type of sensor 510 includes a photoelectric transmitter and a photoelectric receiver. The photoelectric transmitter and the photoelectric receiver are spaced apart, and the photoelectric transmitter is used to transmit light to the photoelectric receiver. In this example, a sensing area is formed between the photoelectric transmitter and the photoelectric receiver, and the sensing area 511 is opposite to the code disk 211. For details, please refer to Figure 4The sensor 510 is provided with a groove having two side walls spaced apart from each other, each of which is provided with a photoelectric transmitter and a photoelectric receiver. The groove serves as the sensing area 511 of the sensor 510. The code disk 211 may include a plurality of code teeth, which are spaced apart and distributed around the rotation axis on a side of the middle housing 200 near the base 100. As the middle housing 200 rotates around the rotation axis, the plurality of code teeth sequentially pass through the sensing area 511. As the code teeth pass through the grooves, they block the light emitted by the photoelectric transmitter, preventing the photoelectric receiver from receiving the light. This allows the sensor 510 to detect that a code tooth is currently within the sensing area 511. By detecting the number of code teeth that pass through the sensing area 511, the rotation angle and / or rotation speed of the middle housing 200 can be calculated.

[0056] In another example, sensor 510 is a reflective sensor. This type of sensor 510 includes a photoelectric emitting end and a photosensor. Sensor 510 is positioned opposite to encoder disk 211. Encoder disk 211 may include multiple encoding regions, some of which have high reflectivity and others have low reflectivity. The high-reflectivity and low-reflectivity encoding regions are staggered and spaced about the rotation axis on a side of the middle shell 200 near the base 100. This ensures that any two adjacent encoding regions have different reflectivities. The photoelectric emitting end of sensor 510 is used to emit light toward the encoding regions in encoder disk 211, and the photosensor is used to receive light reflected from the encoding regions. Because the reflectivities of adjacent encoding regions differ, and the light reflected from the encoding regions with different reflectivities differs in intensity, the photosensor senses the change in light intensity, thereby inferring the rotation angle and / or rotation speed of the middle shell 200.

[0057] Optionally, the optical ranging device further includes a controller, which is signal-connected to the sensor 510. Whenever the sensor 510 senses a coding tooth passing through the sensing area 511, or whenever the photosensor in the sensor 510 senses a change in light intensity, the sensor 510 feeds back a signal to the controller, and the controller is used to calculate the current rotation angle and / or rotation speed of the middle shell 200 based on the signal fed back by the sensor 510. It is worth noting that in the embodiment of the present application, the signal connection can be a wired signal connection implemented through a data cable or a circuit board 500, or a wireless signal connection implemented through a wireless communication module (such as a Bluetooth module). In one example, the controller is signal-connected to the sensor 510 through the circuit board 500. Optionally, the controller is also signal-connected to the rotating motor 400 and the optical transceiver assembly 300, respectively. The controller is also used to control the speed at which the rotating motor 400 drives the middle shell 200 to rotate, and to control the optical transceiver assembly 300 to emit a laser beam.

[0058] In one possible design, see Figure 3 、 Figures 5 to 7 The base 100 includes a base plate 120, an annular structure 112, and an escape structure 130. The annular structure 112 is disposed around the periphery of the base plate 120 and spaced apart from the base plate 120. The escape structure 130 is located between the base plate 120 and the annular structure 112 and is connected to the base plate 120 and the annular structure 112, respectively. The escape structure 130 defines an escape groove 131, and the escape space includes the space within the escape groove 131. The middle housing 200 is rotatably mounted on the base plate 120, and at least a portion of the code disk 211 extends into the escape groove 131. In this embodiment, by providing an avoidance structure 130 having an avoidance groove 131, the substrate 120 will not be suspended in the air, that is, the substrate 120 will be supported by the avoidance structure 130, and by providing the avoidance groove 131, the space occupied by the encoding disk 211 in the first direction is at least partially overlapped with the space occupied by the base 100 in the first direction, thereby reducing the overall thickness of the optical ranging device and the overall thickness of the mobile robot.

[0059] In some embodiments, one of the base plate 120 and the middle shell 200 is provided with a mounting tube 121, and the other is provided with a rotating shaft 230. The rotating shaft 230 is inserted into the mounting tube 121 and rotatably connected via a bearing 240. The rotating shaft 230 can rotate about its own axis relative to the mounting tube 121. In this embodiment, the rotating shaft 230 and the mounting tube 121 are coaxially arranged, and the axis of the rotating shaft 230 coincides with the axis of the cylindrical portion 210 of the middle shell 200. Therefore, the axis of the rotating shaft 230 is the rotation axis.

[0060] In one example, see Figure 2 and Figure 3 The middle shell 200 is provided with a rotating shaft 230, and the base plate 120 is provided with a mounting tube 121, with the rotating shaft 230 inserted into the mounting tube 121. In another example, the middle shell 200 is provided with a mounting tube 121, and the base plate 120 is provided with a rotating shaft 230, with the rotating shaft 230 inserted into the mounting tube 121. A bearing 240 is sleeved around the outer periphery of the rotating shaft 230, and the bearing 240 is located between the rotating shaft 230 and the inner wall of the mounting tube 121, facilitating the rotation of the rotating shaft 230 relative to the mounting tube 121, thereby facilitating the rotation of the middle shell 200 relative to the base plate 120, and thus facilitating the rotation of the middle shell 200 relative to the base plate 120, and thus facilitating the rotation of the middle shell 200 relative to the base 100.

[0061] In one specific embodiment, see Figure 2 and Figure 3The mounting cylinder 121 is disposed on the upper surface of the base plate 120 in the first direction, and the rotating shaft 230 is disposed on the lower surface of the plate portion 220 of the middle housing 200 in the first direction. With the rotating shaft 230 attached to the mounting cylinder 121, the middle housing 200 is indirectly attached to the base plate 120. The stator 410 of the rotating motor 400 is also mounted on the base plate 120. Specifically, the stator 410 is sleeved around the outer circumference of the mounting cylinder 121.

[0062] In another specific embodiment, the mounting cylinder 121 is formed on the lower surface of the plate portion 220 of the middle housing 200 in the first direction, and the rotating shaft 230 is disposed on the upper surface of the base plate 120 in the first direction. By sleeve-fitting the mounting cylinder 121 onto the rotating shaft 230, the middle housing 200 is indirectly mounted to the base plate 120. The stator 410 is mounted on the base plate 120 and disposed outside the rotating shaft 230, while the rotor 420 is mounted on the middle housing 200. Optionally, when the mounting cylinder 121 is sleeved onto the rotating shaft 230, it also sleeves onto the outer side of the stator 410. Alternatively, the stator 410 is sleeved onto the outer side of the rotating shaft 230 and spaced apart from the rotating shaft 230. When the mounting cylinder 121 is sleeved onto the rotating shaft 230, it is positioned between the stator 410 and the rotating shaft 230.

[0063] In some embodiments, the optical ranging device further comprises an upper cover 600, which is mounted on the base 100 and surrounds the middle shell 200 and the outer periphery of the optical transceiver assembly 300 on the middle shell 200. The upper cover 600 protects the middle shell 200 and the optical transceiver assembly 300 mounted on the middle shell 200. The upper cover 600 is provided with a light-transmitting portion 610, which is made of glass or other light-transmitting materials. The light-transmitting portion 610 of the upper cover 600 is a cylindrical structure and surrounds the outer periphery of the optical transceiver assembly 300. The laser beam emitted by the optical transceiver assembly 300 can pass through the light-transmitting portion 610 and be emitted to the outside world.

[0064] In some embodiments, the avoidance structure 130 is an annular structure, and the avoidance structure 130 is arranged around the outer periphery of the substrate 120. The avoidance groove 131 on the avoidance structure 130 is an annular groove, and the avoidance groove 131 is also arranged around the outer periphery of the substrate 120. Optionally, the avoidance structure 130 can be a fully enclosed annular structure (such as an "O"-shaped annular structure) or a semi-enclosed annular structure (such as a "C"-shaped annular structure). When the avoidance structure 130 is a fully enclosed annular structure, the avoidance groove 131 is also a fully enclosed annular structure. When the avoidance structure 130 is a semi-enclosed annular structure, the avoidance groove 131 is also a semi-enclosed annular structure.

[0065] Optionally, the sensor 510 can be installed in the avoidance groove 131, with the sensor 510 and the code disk 211 facing each other in a first direction. When the sensor 510 is a through-beam sensor, specifically, the groove of the sensor 510 faces the code disk 211 in the first direction, and the code disk 211 extends into the groove along the first direction. With this arrangement, on the one hand, by installing the sensor 510 in the avoidance groove 131, the space occupied by the sensor 510 in the first direction at least partially overlaps with the space occupied by the substrate 120 in the first direction. On the other hand, by positioning the sensor 510 and the code disk 211 facing each other in the first direction, the space occupied by the sensor 510 in the second direction at least partially overlaps with the space occupied by the code disk 211 in the second direction, where the second direction is a direction perpendicular to the first direction. In summary, this arrangement is beneficial for reducing both the space occupied by the optical ranging device in the first direction and the space occupied by the optical ranging device in the second direction, thereby further reducing the volume of the optical ranging device.

[0066] In one possible design, Figure 3 and Figure 7 As shown, the substrate 120 defines a first area 113 and a second area 114 spaced apart along a first direction. The middle shell 200 is located in the first area 113, and the circuit board 500 is installed in the second area 114. The sensor 510 is installed on the circuit board 500 and is used to detect the rotation angle and / or rotation speed of the middle shell 200. Figure 3 and Figure 5 As shown, a relief hole 140 is formed between the substrate 120 and the annular structure 112. The first area 113 and the second area 114 are connected through the relief hole 140. The relief space also includes the space within the relief hole 140. The relief hole 140 accommodates at least a portion of either the sensor 510 or the code disk 211, or the relief hole 140 accommodates at least a portion of both the sensor 510 and the code disk 211, so that the encoding teeth in the code disk 211 can extend into the sensing area 511. In this embodiment, when at least a portion of the sensor 510 is located in the relief hole 140, the space occupied by the sensor 510 in the first direction also at least partially overlaps with the space occupied by the substrate 120 in the first direction, thereby further reducing the space occupied by the entire optical ranging device in the first direction.

[0067] In some embodiments, when the avoidance structure 130 is a fully enclosed annular structure, the avoidance hole 140 may be provided on the avoidance structure 130. For example, the avoidance hole 140 is provided through the bottom wall of the avoidance groove 131. In this embodiment, the code disk 211 is located in the avoidance groove 131, and the sensor 510 extends into the avoidance groove 131 through the avoidance hole 140, so that the code disk 211 can extend into the sensing area 511 of the sensor 510.

[0068] In other embodiments, when the avoidance structure 130 is a semi-enclosed annular structure, the avoidance hole 140 is formed by the two side walls of the avoidance structure 130 spaced apart in the circumferential direction around the rotation axis, the side wall of the substrate 120 proximate to the annular structure 112, and the side wall of the annular structure 112 proximate to the substrate 120. In this embodiment, the code disk 211 extends into the avoidance hole 140. The sensor 510 can extend into the avoidance hole 140, allowing the code disk 211 to extend into the sensing area 511 of the sensor 510. Alternatively, the sensor 510 does not need to extend into the avoidance hole 140, and the code disk 211 can also extend into the sensing area 511 of the sensor 510. For example, when sensor 510 is a through-beam sensor, the groove of sensor 510 has a bottom wall and sidewalls connected to the bottom wall on either side in the second direction. The bottom wall of the groove is located on the side of the avoidance hole 140 facing away from the first region 113 in the first direction. One sidewall of the groove is located on the side of the avoidance hole 140 closer to the rotation axis, and the other sidewall of the groove is located on the side of the avoidance hole 140 farther from the rotation axis. Thus, when the code disk 211 extends into the avoidance hole 140, it is also located within the groove, that is, within the sensing area 511 of the photoelectric sensor.

[0069] In one possible design, Figure 4 As shown, there are multiple avoidance structures 130, spaced apart around the rotation axis of the middle shell 200. A avoidance hole 140 is formed between any two adjacent avoidance structures 130. Specifically, a avoidance hole 140 is formed between any two adjacent avoidance structures 130, the sidewall of the base plate 120 near the annular structure 112, and the sidewall of the annular structure 112 near the base plate 120. In this embodiment, there are multiple avoidance holes 140. In another possible design, the avoidance structure 130 is formed with multiple avoidance holes 140, for example, multiple avoidance holes 140 are formed through the bottom wall of the avoidance groove 131. Among the multiple avoidance holes 140, one avoidance hole 140 is at least used to avoid at least part of either the sensor 510 or the encoding disk 211, or the avoidance hole 140 is at least used to avoid at least part of both the sensor 510 and the encoding disk 211; electronic components 520 are also installed on the circuit board 500, and at least one of the other avoidance holes 140 is used to avoid the electronic components 520.

[0070] Optionally, there are at least two avoidance holes 140. There may be multiple electronic components 520, and the number of avoidance holes 140 may be two, one of which is used to avoid the sensor 510 or the encoding disk 211, or the avoidance hole 140 is used to avoid the sensor 510 and the encoding disk 211, and at least one of the electronic components 520 may extend into the other avoidance hole 140. There may be more than two avoidance holes 140, one of which is used to avoid the sensor 510 or the encoding disk 211, or the avoidance hole 140 is used to avoid the sensor 510 or the encoding disk 211, and taller electronic components 520 among the multiple electronic components 520 may extend into one of the remaining avoidance holes 140, or into multiple of the remaining avoidance holes 140. Such an arrangement enables the space occupied by at least part of the electronic components 520 on the circuit board 500 in the first direction to at least partially overlap with the space occupied by the avoidance structure 130 in the first direction, thereby further reducing the thickness of the optical ranging device and further reducing the thickness of the mobile robot.

[0071] In a specific embodiment, Figure 3 and Figure 5 As shown, there are four avoidance structures 130, spaced apart around the rotation axis and arranged on the periphery of the base plate 120. Between any two adjacent avoidance structures 130, there are four avoidance holes 140 formed on the outer periphery of the base plate 120 and the inner side surface of the annular structure 112. The sensor 510 is located in one of the avoidance holes 140. The coding teeth can rotate within the avoidance grooves 131 of each avoidance structure 130 and within each avoidance hole 140 as the middle shell 200 rotates, allowing the coding teeth to move into or out of the sensing area 511 of the sensor 510. The remaining three avoidance holes 140 can also be used to accommodate different electronic components 520 on the circuit board 500.

[0072] In one possible design, Figure 3 and Figure 4 As shown, the substrate 120 has a first end surface facing the middle shell 200, and the sensor 510 is located on the side of the first end surface facing away from the middle shell 200. Alternatively, a side of the sensor 510 close to the middle shell 200 is flush with the first end surface, or a portion of the sensor 510 is located on the side of the first end surface close to the middle shell 200 and a portion of the sensor 510 is located on the side of the first end surface facing away from the middle shell 200. In this way, the space occupied by the sensor 510 in the first direction at least partially overlaps with the space occupied by the avoidance structure 130 in the first direction, thereby further reducing the thickness of the optical distance measuring device.

[0073] In one possible design, Figure 6As shown, the substrate 120 has a second end surface facing away from the middle housing 200, a portion of the avoidance structure 130 is located on the side of the second end surface facing away from the middle housing 200, the bottom wall of the avoidance groove 131 is located on the side of the second end surface facing away from the middle housing 200, and at least a portion of the code disk 211 is located on the side of the second end surface facing away from the middle housing 200. In this embodiment, by arranging a portion of the avoidance structure 130 on the second end surface facing away from the middle housing 200, the thickness of the avoidance structure 130 in the first direction is greater than the thickness of the substrate 120, thereby increasing the depth of the avoidance groove 131 and the support strength for the substrate 120. This allows a portion of the code disk 211 to extend into the side of the substrate 120 near the second region 114. This further reduces the height of the middle housing 200, thereby further reducing the thickness of the optical ranging device.

[0074] In one possible design, see Figure 7 and Figure 8 The avoidance structure 130 is further formed with a reinforcement portion 150, which is located on a side of the avoidance structure 130 away from the avoidance groove 131. The provision of the reinforcement portion 150 helps to enhance the structural strength of the avoidance structure 130. In some examples, the avoidance structure 130 includes a main body 170 and a reinforcement portion 150, wherein the main body 170 is formed with the avoidance groove 131. The reinforcement portion 150 is connected to a side of the main body 170 away from the middle shell 200 in the first direction, thereby enhancing the structural strength of the avoidance structure 130 in the first direction. Alternatively, the reinforcement portion 150 is connected to either side of the main body 170 in the second direction, thereby enhancing the structural strength of the avoidance structure 130 in the second direction. Alternatively, the reinforcement portion 150 is connected to both the side of the main body 170 away from the middle shell 200 in the first direction and two opposite sides of the main body 170 in the second direction, thereby enhancing the overall structural strength of the avoidance structure 130.

[0075] In one possible design, see Figure 3 and Figure 9 The circuit board 500 is formed with a via hole 530, and the avoidance structure 130 is disposed through the via hole 530. This configuration allows the avoidance structure 130 to pass through the via hole 530 and extend below the circuit board 500. The reinforcing portion 150 is supported on an external structure outside the optical distance measuring device to improve the support strength of the substrate 120.

[0076] In some embodiments, when there are multiple avoidance structures 130, the number of vias 530 corresponds to the number of avoidance structures 130, with each avoidance structure 130 extending through a corresponding via 530. Optionally, the cross-sectional shape of each via 530 matches the outer contour of the cross-sectional shape of the reinforcement portion 150 in the corresponding avoidance structure 130, allowing the reinforcement portion 150 to smoothly pass through the via 530. Alternatively, the cross-sectional shape of each via 530 can also match the outer contour of the cross-sectional shape of the entire structure formed by the reinforcement portion 150 and the main body 170 in the corresponding avoidance structure 130, allowing a portion of the main body 170 to extend through the via 530. In this manner, the space occupied by the circuit board 500 in the first direction overlaps with the space occupied by the avoidance structures 130 in the first direction, thereby facilitating a reduction in the thickness of the optical ranging device, and thus the thickness of the mobile robot.

[0077] In one possible design, see Figure 7 The base 100 further includes an outer cylinder 110, which is a cylindrical structure. The annular structure 112 protrudes from the inner wall of the outer cylinder 110, and the reinforcing portion 150 is respectively connected to the base plate 120 and the annular structure 112. Optionally, the outer cylinder 110 can be specifically, but not limited to, a square cylindrical structure or a circular cylindrical structure. In this embodiment, when the main body 170 does not extend into the second area 114, the reinforcing portion 150 is respectively connected to the side of the main body 170 facing away from the housing 200, the side of the base plate 120 facing away from the housing 200, and the side of the annular structure 112 facing away from the housing 200. When the main body 170 extends into the second region 114, the reinforcement 150 surrounds the portion of the main body 170 located in the second region 114. Specifically, the reinforcement 150 connects to the side of the portion of the main body 170 located in the second region 114 that faces away from the housing 200 and to two opposing sides in the second direction. Furthermore, the reinforcement 150 connects to a side of the base plate 120 facing the second region 114 and a side of the annular structure 112 facing the second region 114. This configuration not only enhances the structural strength of the avoidance structure 130 and its support for the base plate 120, but also improves the connection stability between the base plate 120 and the annular structure 112, thereby improving the connection stability between the base plate 120 and the outer cylinder 110.

[0078] In one possible design, Figure 8As shown, the reinforcing portion 150 is provided with a connecting structure 160, which is used to connect to the external structure of the optical ranging device (for example, the structure for mounting the optical ranging device in a mobile robot). It is worth noting that the external structure of the optical ranging device will be referred to as the external structure hereinafter. In this arrangement, when the reinforcing portion 150 is connected only to the main body 170, the substrate 120 can be supported on the external structure by the connecting structure 160 and the avoidance structure 130, thereby enhancing the structural strength of the avoidance structure 130 and improving the installation stability of the substrate 120. When the reinforcing portion 150 is also connected to the side of the substrate 120 facing away from the housing 200 and the side of the annular structure 112 facing the second zone 114, the structural strength of the substrate 120 and the outer cylinder 110 can be further improved, as well as the installation stability of the substrate 120 and the outer cylinder 110.

[0079] Optionally, the connection structure 160 and the external structure may be connected via a snap connection, a screw connection, or any other suitable means. For example, the connection structure 160 may include a threaded hole that can be connected with a screw to stably mount the base 100 on the external structure. Alternatively, for example, the connection structure 160 may include a buckle, and the external structure may be provided with a slot. The engagement of the buckle and the slot allows the base 100 to be stably mounted on the external structure, thereby stably mounting the optical distance measuring device on the external structure.

[0080] In another possible design, the outer cylinder 110 is also used to be connected to an external structure. By connecting the outer cylinder 110 to the external structure, the base 100 can be stably mounted on the external structure, thereby stably mounting the optical distance measuring device on the external structure.

[0081] In one possible design, see Figure 7 The radial width of the avoidance groove 131 gradually increases as it approaches the middle shell 200. It is worth noting that the radial width of the avoidance groove 131 specifically refers to the width of the avoidance groove 131 in a direction perpendicular to the rotation axis and approaching or away from the rotation axis, specifically the width of the avoidance groove 131 in the second direction. This configuration facilitates the insertion of the code disk 211 into the avoidance groove 131. It is worth noting that, specifically, the avoidance groove 131 includes a first sidewall and a second sidewall spaced apart along the radial direction of the outer cylinder 110. The distance between the first sidewall and the second sidewall in the radial direction of the outer cylinder 110 gradually increases toward the side approaching the middle shell 200, thereby increasing the opening of the avoidance groove 131 and facilitating the insertion of the code disk 211 on the middle shell 200 into the avoidance groove 131.

[0082] Another embodiment of the present application further provides a mobile robot comprising a body and the optical ranging device provided in any of the above embodiments, wherein the optical ranging device is mounted on the body. Since the mobile robot provided in this embodiment includes the optical ranging device provided in any of the above embodiments, it has at least all of the aforementioned beneficial effects, which will not be further elaborated here.

[0083] In some embodiments, the fuselage includes a mounting plate and an outer shell, the outer shell cover is arranged on the mounting plate, and the outer shell and the mounting plate are arranged to form an inner cavity. At least part of the structure of the optical ranging device is located in the inner cavity, and the base 100 of the optical ranging device is mounted on the mounting plate, and the mounting plate is arranged perpendicular to the first direction. Specifically, the base 100 is supported on the mounting plate by the outer cylinder 110, and is connected to the mounting plate through the connecting structure 160 on the reinforcing part 150. Optionally, the connecting structure 160 and the mounting plate can be connected by snapping, screwing or any other means. Exemplarily, the connecting structure 160 on the reinforcing part 150 is a threaded hole structure, the mobile robot includes a connecting screw, a connecting hole is provided on the mounting plate, the connecting screw is passed through the connecting hole and the threaded hole, and the connecting screw is threadedly connected to the threaded hole, so that the base 100 is stably mounted on the mounting plate.

[0084] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. An optical distance measuring device, characterized in that: The invention comprises a base (100) and a middle shell (200), wherein the middle shell (200) is rotatably mounted on the base (100), and an escape space is formed on the base (100), wherein the escape space extends along a first direction toward a side away from the middle shell (200), wherein the first direction is parallel to the rotation axis of the middle shell (200), and an encoding disk (211) is provided at one end of the middle shell (200) close to the base (100) in the first direction, and the encoding disk (211) extends into the escape space.

2. The optical distance measuring device according to claim 1, wherein: The base (100) comprises a base plate (120), an annular structure (112) and an avoidance structure (130); the annular structure (112) is arranged around the outer periphery of the base plate (120) and is spaced apart from the base plate (120); the avoidance structure (130) is located between the base plate (120) and the annular structure (112) and is respectively connected to the base plate (120) and the annular structure (112); the avoidance structure (130) is formed with an avoidance groove (131); the avoidance space includes the space within the avoidance groove (131); the middle shell (200) is rotatably mounted on the base plate (120), and at least a portion of the encoding disk (211) extends into the avoidance groove (131).

3. The optical distance measuring device according to claim 2, wherein: The substrate (120) defines a first area (113) and a second area (114) spaced apart along the first direction, the middle shell (200) is located in the first area (113), the optical distance measuring device further comprises a circuit board (500) and a sensor (510), the circuit board (500) is mounted in the second area (114), and the sensor (510) is mounted on the circuit board (500) and is used to detect a rotation angle and / or a rotation speed of the middle shell (200); An avoidance hole (140) is formed between the substrate (120) and the annular structure (112); the first area (113) and the second area (114) are connected through the avoidance hole (140); the avoidance space also includes a space within the avoidance hole (140); and the avoidance hole (140) accommodates at least a portion of the sensor (510) and / or the encoding disk (211).

4. The optical distance measuring device according to claim 3, wherein: There are a plurality of the avoidance structures (130), and the plurality of the avoidance structures (130) are arranged at intervals around the rotation axis of the middle shell (200), and one avoidance hole (140) is formed between any two adjacent avoidance structures (130); One of the avoidance holes (140) is at least used to avoid at least a portion of the sensor (510) and / or the encoding disk (211); an electronic component (520) is also mounted on the circuit board (500), and at least one of the other avoidance holes (140) is used to avoid the electronic component (520).

5. The optical distance measuring device according to claim 3, wherein: The base plate (120) has a first end surface facing the middle shell (200); The sensor (510) is located on a side of the first end face facing away from the middle shell (200), or a side of the sensor (510) close to the middle shell (200) is flush with the first end face, or a portion of the sensor (510) is located on a side of the first end face close to the middle shell (200) and a portion of the sensor (510) is located on a side of the first end face facing away from the middle shell (200).

6. The optical distance measuring device according to claim 3, wherein: The circuit board (500) is formed with a via hole (530), and the avoidance structure (130) is arranged through the via hole (530).

7. The optical distance measuring device according to claim 2, wherein: The base plate (120) has a second end surface facing away from the middle shell (200); A portion of the avoidance structure (130) is located on a side of the second end face facing away from the middle shell (200), a bottom wall of the avoidance groove (131) is located on a side of the second end face facing away from the middle shell (200), and at least a portion of the encoding disk (211) is located on a side of the second end face facing away from the middle shell (200).

8. The optical distance measuring device according to claim 2, wherein: The avoidance structure (130) is further formed with a reinforcement portion (150), and the reinforcement portion (150) is located on a side of the avoidance structure (130) away from the avoidance groove (131).

9. The optical distance measuring device according to claim 8, wherein: The base (100) further includes an outer cylinder (110), the outer cylinder (110) being a cylindrical structure, the annular structure (112) being protrudingly arranged on the inner wall of the outer cylinder (110), and the reinforcing portion (150) being respectively connected to the base plate (120) and the annular structure (112).

10. The optical distance measuring device according to claim 8, wherein: The reinforcing portion (150) is provided with a connecting structure (160), and the connecting structure (160) is used to be connected to an external structure of the optical distance measuring device.

11. The optical distance measuring device according to any one of claims 2 to 10, characterized in that: The radial width of the avoidance groove (131) gradually increases in a direction approaching the middle shell (200).

12. The optical distance measuring device according to any one of claims 2 to 10, characterized in that: One of the base plate (120) and the middle shell (200) is provided with a mounting cylinder (121), and the other is provided with a rotating shaft (230), wherein the rotating shaft (230) is inserted into the mounting cylinder (121) and is rotatably connected via a bearing (240); and / or, The optical distance measuring device further comprises a stator (410) and a rotor (420), wherein the stator (410) is mounted on the substrate (120) and sleeved on the outer side of the rotating shaft (230), and the rotor (420) is mounted on the middle shell (200), and the stator (410) is used to drive the rotor (420) and the middle shell (200) to rotate around the rotation axis.

13. A mobile robot, characterized in that: The optical distance measuring device comprises a body and the optical distance measuring device according to any one of claims 1 to 12, wherein the optical distance measuring device is installed on the body.

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