Optical distance measuring device and mobile robot

Abstract

The utility model is suitable for the technical field of optical distance measuring devices, and provides an optical distance measuring device and a mobile robot, the optical distance measuring device comprises a shell part and an optical transceiving part, the shell part comprises an upper cover and a base, the upper cover is installed on the base, an accommodating cavity is formed between the upper cover and the base, the upper cover comprises a light-transmitting main body, and the light-transmitting main body is a rotating body; the optical transceiving part is rotatably mounted in the accommodating cavity and comprises a transmitting assembly and a receiving assembly; a transmitting channel is arranged on the transmitting assembly, a light beam transmitted by the transmitting assembly is transmitted to a target object through the transmitting channel and the light-transmitting main body, and the axis of the light-transmitting main body passes through the transmitting channel or an extension area of the transmitting channel. The optical distance measuring device provided by the utility model can reduce the possibility or degree of direction deviation when the light beam emitted by the emitting assembly penetrates through the light-transmitting main body, and reduce the possibility that the laser emitted by the emitting assembly interferes with the signal reception of the receiving assembly.

Description

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 31, 2024, with application number: 202422664841.4 and invention name: “Optical ranging device and mobile robot”, the entire contents of which are incorporated by reference into this application. Technical Field

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

[0003] LiDAR is a common optical ranging device. It operates by transmitting a detection signal toward a target and then comparing the received signal reflected from the target with the transmitted signal. After appropriate processing, it can obtain relevant target information, such as its range, direction, altitude, speed, attitude, and even shape. A rotating LiDAR primarily consists of a laser ranging module, a drive module, a housing assembly, and an encoding module. In existing rotating LiDARs, the portion of laser light emitted from the transmitting tube that penetrates the radome may be deflected, and the portion reflected by the inner wall of the radome may enter the receiving tube, affecting the LiDAR's ranging performance. Utility Model Content

[0004] 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 of poor ranging effect of optical ranging devices in the prior art.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, an optical ranging device is provided, which includes: a shell portion and an optical transceiver portion, wherein the shell portion includes an upper cover and a base, the upper cover is installed on the base, and an accommodating cavity is formed between the upper cover and the base, the upper cover includes a light-transmitting body, and the light-transmitting body is a rotating body; the optical transceiver portion is rotatably installed in the accommodating cavity, the optical transceiver portion includes a transmitting component and a receiving component, the transmitting component is used to transmit a light beam to a target object, and the receiving component is used to receive a light beam reflected from the target object; an transmitting channel is provided on the transmitting component, and the light beam emitted by the transmitting component is transmitted to the target object through the transmitting channel and the light-transmitting body, and the axis of the light-transmitting body passes through the transmitting channel or an extended area of ​​the transmitting channel.

[0006] Optionally, the rotation axis of the optical transceiver is collinear with the axis of the light-transmitting body; and / or the axis of the transmitting channel intersects with the axis of the light-transmitting body.

[0007] Optionally, the launching assembly includes a launching tube body and a launching lens. A launching channel is provided in the launching tube body, and the launching channel extends along the length direction of the launching tube body. The launching lens is installed in the launching channel; the optical axis of the launching lens is collinear or parallel to the axis of the launching channel.

[0008] Optionally, the first end of the transmitting tube body is concave inwardly in a direction away from the inner side wall of the light-transmitting main body; wherein, the first end of the transmitting tube body is an end of the transmitting tube body close to the inner side wall of the light-transmitting main body.

[0009] Optionally, a receiving channel is provided on the receiving component; the projections of the receiving channel and the transmitting channel on the reference plane at least partially overlap, the reference plane is a plane parallel to the axis of the transmitting channel and parallel to the axis of the light-transmitting body and / or the axis of the receiving channel is parallel to the axis of the transmitting channel, and / or the axis of the receiving channel and the axis of the transmitting channel are on the same plane perpendicular to the axis of the light-transmitting body.

[0010] Optionally, the receiving assembly includes a receiving tube body and a receiving lens. A receiving channel is provided in the receiving tube body, the receiving channel extends along the length direction of the receiving tube body, and the receiving lens is installed in the receiving channel; the optical axis of the receiving lens is collinear or parallel to the axis of the receiving channel.

[0011] Optionally, the first end of the receiving tube body protrudes outward toward the inner side wall of the light-transmitting main body; wherein the first end of the receiving tube body is an end of the receiving tube body close to the inner side wall of the light-transmitting main body.

[0012] Optionally, the optical transceiver unit also includes a first circuit board, and the transmitting component and the receiving component are both mounted on the first circuit board and electrically connected to the first circuit board; the optical transceiver unit also includes a counterweight component, and the counterweight component is arranged on the side of the transmitting component away from the receiving component; and / or, the optical transceiver unit also includes a high electrical component, and the high electrical component at least partially overlaps with the projection of the transmitting component or the receiving component on the reference plane, and the reference plane is a plane parallel to the axis of the transmitting channel and parallel to the axis of the light-transmitting body. The high electrical component is arranged on the side of the transmitting component away from the receiving component and electrically connected to the first circuit board.

[0013] Optionally, the optical transceiver includes at least one transmitting component and at least one receiving component, and the number of transmitting components is the same as the number of receiving components; or, the optical transceiver includes multiple transmitting components and multiple receiving components, and the multiple transmitting components are arranged at intervals along the circumference of the light-transmitting body, and the multiple receiving components correspond one-to-one to the multiple transmitting components; and / or, the upper cover is movably mounted on the base.

[0014] According to another aspect of the present application, a mobile robot is provided, which includes an optical ranging device, and the optical ranging device is the optical ranging device mentioned above.

[0015] The beneficial effect of the optical ranging device provided by the present application is that: compared with the prior art, the optical ranging device provided by the present application sets the axis of the light-transmitting body to pass through the transmitting channel or the extended area of ​​the transmitting channel, so that the optical ranging device provided by the present application can, when the light-transmitting body is a rotating body, reduce the possibility or degree of the light beam emitted by the transmitting component deviating from the direction when penetrating the light-transmitting body, and also reduce the possibility of the light beam emitted by the transmitting component being reflected on the inner wall of the light-transmitting body and entering the receiving component and interfering with the signal reception of the receiving component, thereby improving the ranging effect of the optical ranging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 A schematic diagram of the structure of the laser radar provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of the structure of a laser radar from another perspective provided in an embodiment of the present application;

[0019] Figure 3 A schematic cross-sectional view of a laser radar according to an embodiment of the present application;

[0020] Figure 4 An exploded diagram of a laser radar provided in an embodiment of the present application;

[0021] Figure 5 A schematic diagram of the structure of the laser ranging unit provided in an embodiment of the present application;

[0022] Figure 6 A schematic cross-sectional view of a laser ranging unit according to an embodiment of the present application;

[0023] The reference numerals used in the above drawings are as follows:

[0024] 10. Housing; 11. Upper cover; 111. Translucent body; 12. Base; 13. Accommodating cavity;

[0025] 20. Optical transceiver; 21. Transmitter assembly; 2111. Transmitter tube body; 21111. Transmitter channel; 2112. Transmitter lens; 22. Receiver assembly; 2211. Receiver tube body; 22111. Receiving channel; 2212. Receiving lens; 222. Image sensor; 23. First circuit board; 24. Second circuit board;

[0026] 30. Rotation support portion; 31. Rotation support assembly; 311. First middle housing; 312. First rotating shaft; 32. First shaft sleeve; 33. First bearing;

[0027] 40. Driving unit; 41. Stator assembly; 42. Rotor assembly. DETAILED DESCRIPTION

[0028] 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.

[0029] It should be noted that when an element is referred to as being "fixed to" 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. The embodiments and features in the embodiments of this application may be combined with each other unless there is a conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0030] 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 device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0031] 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.

[0032] As described in the background, laser radar (LiDAR) is a common optical ranging device. Its operating principle is to transmit a detection signal to a target, then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, relevant information about the target, such as its distance, direction, altitude, speed, attitude, and even shape, can be obtained. A rotating laser radar primarily consists of a laser ranging module, a drive module, a housing assembly, and an encoding module. In existing rotating laser radars, the portion of the laser emitted from the transmitting tube that penetrates the radome may be deflected, and the portion reflected by the inner wall of the radome may enter the receiving tube, affecting the laser radar's ranging performance.

[0033] See also Figures 1 to 6 As shown, in order to solve the above problems, according to one aspect of the present application, an embodiment of the present application provides an optical ranging device, which includes: a shell part 10 and an optical transceiver part 20, wherein the shell part 10 includes an upper cover 11 and a base 12, the upper cover 11 is installed on the base 12, and an accommodating cavity 13 is formed between the upper cover 11 and the base 12, the upper cover 11 includes a light-transmitting body 111, and the light-transmitting body 111 is a rotating body; the optical transceiver part 20 is rotatably installed in the accommodating cavity 13, the optical transceiver part 20 includes a transmitting component 21 and a receiving component 22, the transmitting component 21 is used to transmit a light beam to the target object, and the receiving component 22 is used to receive a light beam reflected from the target object; an transmitting channel 21111 is provided on the transmitting component 21, and the light beam emitted by the transmitting component 21 is transmitted to the target object through the transmitting channel 21111 and the light-transmitting body 111, and the axis of the light-transmitting body 111 passes through the transmitting channel 21111 or an extended area of ​​the transmitting channel 21111. The optical ranging device provided in this embodiment sets the axis of the light-transmitting body 111 to pass through the transmitting channel 21111 or the extended area of ​​the transmitting channel 21111. Therefore, when the light-transmitting body 111 is a rotating body, the optical ranging device provided in this embodiment can reduce the possibility or degree of the light beam emitted by the transmitting component 21 deviating from the direction when penetrating the light-transmitting body 111. It also reduces the possibility that the light beam emitted by the transmitting component 21 will be reflected on the inner wall of the light-transmitting body 111 and enter the receiving component 22 and interfere with the signal reception of the receiving component 22, thereby improving the ranging effect of the optical ranging device.

[0034] In a specific embodiment, the extended area of ​​the emission channel 21111 provided in this embodiment is a columnar space extending from the first end of the emission channel 21111 to the second end of the emission channel 21111 through the second end of the emission channel 21111, and the radial cross-sectional shape of the columnar space is the same as the radial cross-sectional shape of the second end of the emission channel 21111, wherein the first end of the emission channel 21111 is the end of the emission channel 21111 close to the inner wall of the light-transmitting body 111.

[0035] In an optional embodiment, at least a portion of the sidewall of the upper cover 11 provided in this embodiment forms a light-transmitting body 111 .

[0036] See also Figure 2 As shown, in a specific embodiment, the rotation axis of the optical transceiver 20 in this embodiment is collinear with the axis of the light-transmitting body 111; setting the rotation axis of the optical transceiver 20 to be collinear with the axis of the light-transmitting body 111 can improve the scanning uniformity and integrity of the optical transceiver 20. During the rotation of the optical transceiver 20, the optical transceiver 20 performs a circular motion with the axis of the light-transmitting body 111 as the center, and the laser emitted by the optical transceiver 20 can cover the horizontal space around the light-transmitting body 111 without dead angles, thereby ensuring the scanning uniformity and integrity of the optical transceiver 20.

[0037] See also Figure 2 As shown, in a specific embodiment, the axis of the transmitting channel 21111 in this embodiment intersects with the axis of the light-transmitting body 111. Setting the axis of the transmitting channel 21111 to intersect with the axis of the light-transmitting body 111 can effectively simplify the reflection process of the laser emitted by the transmitting component 21 on the inner wall of the light-transmitting body 111, reduce the possibility of the laser emitted by the transmitting component 21 being reflected on the inner wall of the light-transmitting body 111 and entering the receiving component 22, thereby interfering with the signal reception of the receiving component 22, and improving the ranging effect of the optical ranging device.

[0038] In an optional embodiment, the axis of the transmitting channel 21111 in this embodiment is coplanar and perpendicular to the axis of the light-transmitting body 111. When the light-transmitting body 111 is cylindrical, setting the axis of the transmitting channel 21111 to be coplanar and perpendicular to the axis of the light-transmitting body 111 can make the laser emitted by the laser emitting assembly 21 irradiate the inner wall of the light-transmitting body 111 vertically, thereby further simplifying the reflection process of the laser emitted by the laser emitting assembly 21 on the inner wall of the light-transmitting body 111, reducing the possibility of the laser emitted by the laser emitting assembly 21 being reflected multiple times on the inner wall of the light-transmitting body 111 and entering the laser receiving assembly 22, thereby interfering with the signal reception of the laser receiving assembly 22, and improving the ranging effect of the laser radar.

[0039] See also Figures 3 to 6As shown, in a specific embodiment, the transmitting assembly 21 in this embodiment includes a transmitting tube body 2111 and a transmitting lens 2112. A transmitting channel 21111 is provided in the transmitting tube body 2111. The transmitting channel 21111 extends along the length direction of the transmitting tube body 2111. The transmitting lens 2112 is installed in the transmitting channel 21111. The transmitting lens 2112 is provided in the transmitting channel 21111, which can focus the light beam in the transmitting channel 21111. The focused light beam has a large energy density, so that the light beam can still maintain sufficient energy after propagating over a long distance, so as to effectively detect the target object.

[0040] In a specific embodiment, the optical axis of the transmitting lens 2112 in this embodiment is collinear or parallel to the axis of the transmitting channel 21111. Setting the optical axis of the transmitting lens 2112 to be collinear or parallel to the axis of the transmitting channel 21111 can prevent the laser beam in the transmitting channel 21111 from being excessively reflected and refracted on the inner wall of the transmitting channel 21111 due to angular deviation after being focused by the transmitting lens 2112, thereby improving the transmission efficiency of the laser.

[0041] See also Figures 3 to 6 As shown, in a specific embodiment, the first end of the launch tube body 2111 in this embodiment is concave in a direction away from the inner wall of the light-transmitting body 111; wherein the first end of the launch tube body 2111 is the end of the launch tube body 2111 close to the inner wall of the light-transmitting body 111. Setting the end of the launch tube body 2111 close to the inner wall of the light-transmitting body 111 to be concave in a direction away from the inner wall of the light-transmitting body 111 can provide technicians with greater flexibility when installing and adjusting the launch tube body 2111, making it easier for technicians to position and adjust the angle of the launch tube body 2111. In addition, since the launch assembly 21 generates a certain amount of heat during operation, the first end of the launch tube body 2111 is designed to have a concave structure, which can increase the gap between the first end of the launch tube body 2111 and the light-transmitting body 111, providing additional heat dissipation space for the launch tube body 2111, and improving the heat dissipation effect of the launch tube body 2111.

[0042] In a specific embodiment, a receiving channel 22111 is provided on the receiving component 22 in this embodiment; the projections of the receiving channel 22111 and the transmitting channel 21111 on the reference plane at least partially overlap, and the reference plane is a plane parallel to the axis of the transmitting channel 21111 and parallel to the axis of the light-transmitting body 111; setting the projections of the receiving channel 22111 and the transmitting channel 21111 on the reference plane to at least partially overlap can reduce the space occupied by the receiving channel 22111 and the transmitting channel 21111 in the axial direction of the light-transmitting body 111, so that the axial dimension of the light ranging device can be designed to be smaller, which is conducive to the miniaturization of the optical ranging device.

[0043] In a specific embodiment, the axis of the receiving channel 22111 in this embodiment is parallel to the axis of the transmitting channel 21111; when the axis of the receiving channel 22111 is parallel to the axis of the transmitting channel 21111, the distribution of the light beam emitted from the transmitting channel 21111 and the receiving field of view in space is relatively stable and regular. In this case, the optical ranging device can more accurately determine the source direction of the reflected light, because the direction of the transmitting light beam is fixed and the receiving direction is parallel to it and remains stable. For the laser reflected back from the target object, the receiving component 22 can receive it according to a pre-set and relatively fixed receiving angle range, reducing the angular error caused by the non-parallel axis.

[0044] In a specific embodiment, the axis of the receiving channel 22111 and the axis of the transmitting channel 21111 are located in the same plane perpendicular to the axis of the light-transmitting body 111. Arranging the axis of the receiving channel 22111 and the axis of the transmitting channel 21111 to be located in the same plane perpendicular to the axis of the light-transmitting body 111 can further reduce the space occupied by the receiving channel 22111 and the transmitting channel 21111 in the axial direction of the light-transmitting body 111, thereby enabling the axial dimension of the optical distance-measuring device to be designed to be smaller, thereby facilitating the miniaturization of the optical distance-measuring device.

[0045] In a specific embodiment, the receiving component 22 in this embodiment includes a receiving tube body 2211 and a receiving lens 2212. A receiving channel 22111 is provided in the receiving tube body 2211. The receiving channel 22111 extends along the length direction of the receiving tube body 2211. The receiving lens 2212 is installed in the receiving channel 22111. The receiving lens 2212 is provided in the receiving channel 22111, which can focus the relatively divergent emission light reflected from all directions into the receiving channel 22111, thereby enhancing the intensity of the optical signal and improving the detection sensitivity and distance range of the receiving component 22.

[0046] In a specific embodiment, the optical axis of the receiving lens 2212 in this embodiment is collinear or parallel to the axis of the receiving channel 22111. When the optical axis of the receiving lens 2212 is collinear or parallel to the axis of the receiving channel 22111, the light beam reflected from the target object can enter the receiving lens 2212 at an optimal angle, improving signal reception efficiency. This parallel or collinear structure also helps ensure the accuracy of the received signal. The optical ranging device determines the distance to the target object by measuring the time difference between the emission and reception of the light beam. If the axis of the receiving channel 22111 and the axis of the receiving lens 2212 are not parallel, it may cause an angular deviation of the received signal, affecting the signal accuracy.

[0047] See also Figures 3 to 6 As shown, in a specific embodiment, the first end of the receiving tube body 2211 in this embodiment protrudes outward toward the direction close to the inner wall of the light-transmitting main body 111; wherein, the first end of the receiving tube body 2211 is an end of the receiving tube body 2211 close to the inner wall of the light-transmitting main body 111. Setting one end of the receiving tube body 2211 close to the inner wall of the light-transmitting main body 111 to bulge outward in the direction close to the inner wall of the light-transmitting main body 111 can reduce the gap between the first end of the receiving tube body 2211 and the inner wall of the light-transmitting main body 111. During the actual use of the optical ranging device, there may be a certain amount of stray light around the optical ranging device, such as scattered light from sunlight, light from other surrounding light sources, etc. When the gap between the first end of the receiving tube body 2211 and the inner wall of the light-transmitting main body 111 is small, it is difficult for the stray light to directly enter the receiving tube body 2211, thereby ensuring the ranging effect of the optical ranging device. In addition, setting the first end of the receiving tube body 2211 to an outward convex structure can make the first end of the receiving lens barrel assembly have better stability and pressure resistance, can effectively disperse the pressure applied from the outside, reduce the impact on the internal components of the receiving tube body 2211, and ensure the normal operation of the receiving tube body 2211.

[0048] In an optional embodiment, the first end of the receiving tube body 2211 provided in this embodiment is formed with an outer convex surface. When the rotation axis of the optical transceiver 20 is collinear with the axis of the light-transmitting body 111, the outer convex surface provided in this embodiment is parallel to the inner sidewall of the light-transmitting body 111. Arranging the outer convex surface provided in this embodiment to be parallel to the inner sidewall of the light-transmitting body 111 can further reduce the gap between the first end of the receiving tube body 2211 and the inner sidewall of the light-transmitting body 111, making it difficult for stray light in the external environment to directly enter the receiving tube body 2211.

[0049] See also Figures 3 to 6As shown, in a specific embodiment, the optical transceiver 20 in this embodiment also includes a first circuit board 23, and the transmitting component 21 and the receiving component 22 are both installed on the first circuit board 23 and electrically connected to the first circuit board 23; the optical transceiver 20 also includes a counterweight component, which is arranged on the side of the transmitting component 21 away from the receiving component 22; the counterweight component is arranged on the side of the transmitting component 21 away from the receiving component 22, which can adjust the center of gravity position of the optical transceiver 20 to make it more balanced, improve the stability of the optical transceiver 20 during rotation, and reduce the influence of vibration on the light beam emission direction and accuracy of the optical ranging device.

[0050] In a specific embodiment, the optical transceiver 20 in this embodiment further includes a tall electrical component, the bottom projection of which at least partially overlaps with that of the transmitting assembly 21 or the receiving assembly 22 on a reference plane, the reference plane being a plane parallel to the axis of the transmitting channel 21111 and parallel to the axis of the light-transmitting body 111. The tall electrical component is disposed on a side of the transmitting assembly 21 away from the receiving assembly 22 and is electrically connected to the first circuit board 23. In other words, a tall electrical component refers to an electrical component that is relatively tall and cannot be arranged in the space between the optical transceiver 20 and the first circuit board 23. Therefore, the space left vacant by the central placement of the transmitting assembly 21 on the side away from the receiving assembly 22 can be used to arrange the tall electrical component, thereby rationalizing the space on the first circuit board 23.

[0051] In a specific embodiment, the optical transceiver 20 in this embodiment includes at least one transmitting component 21 and at least one receiving component 22 , and the number of the transmitting components 21 is the same as the number of the receiving components 22 .

[0052] In an optional embodiment, the optical transceiver 20 includes a transmitting component 21 and a receiving component 22. Setting the optical transceiver 20 to include a transmitting component 21 and a receiving component 22 can reduce the production cost of the optical distance measuring device.

[0053] In an optional embodiment, the optical transceiver 20 in this embodiment includes multiple transmitting components 21 and multiple receiving components 22, and the multiple transmitting components 21 are arranged at circumferential intervals along the light-transmitting body 111, and the multiple receiving components 22 correspond one-to-one to the multiple transmitting components 21; the multiple transmitting components 21 are arranged at circumferential intervals along the light-transmitting body 111, and the multiple receiving components 22 correspond one-to-one to the multiple transmitting components 21, so that the optical ranging device can achieve multi-channel simultaneous scanning, effectively improving the scanning efficiency of the optical ranging device, and the multiple receiving components 22 are arranged at circumferential intervals with the multiple transmitting components 21 along the light-transmitting body 111, so that the mass distribution of the optical transceiver 20 on the optical ranging device can be more uniform, and the rotation of the optical transceiver 20 can be more balanced.

[0054] In an optional embodiment, a transmitting component 21 and a receiving component 22 arranged in sequence along the same direction form an optical ranging module. The optical transceiver 20 provided in this embodiment includes multiple optical ranging modules, and the multiple optical ranging modules are arranged at intervals along the circumference of the optical ranging device. The light beam emission directions of the multiple optical ranging modules are different.

[0055] In a specific embodiment, the upper cover 11 is movably mounted on the base 12. The movably mounted upper cover 11 on the base 12 means that the upper cover 11 can swing relative to the base 12. When an optical ranging device is mounted on a moving carrier, such as a mobile robot, car, airplane, or ship, it will inevitably be subject to vibration and impact. Movably mounting the upper cover 11 on the base 12 can make the upper cover 11 independent of the violent vibration of the base 12 to a certain extent. The swingable upper cover 11 can buffer the impact of such vibration on the optical transceiver, reducing the optical path deviation caused by vibration, thereby ensuring stable reception and transmission of signals by the optical ranging device and maintaining its accurate perception of the surrounding environment. When the upper cover 11 is movably connected to the base 12, the axis of the light-transmitting body is set to pass through the transmitting channel 21111 or an extension of the transmitting channel 21111. This can, to a certain extent, reduce the impact of the swing of the upper cover 11 relative to the base 12 on the light beam emitted by the transmitting assembly, thereby preventing the light beam emitted by the transmitting assembly from significantly deviating when the upper cover 11 swings relative to the base 12.

[0056] See also Figures 3 to 6 As shown, in an optional embodiment, the transmitting tube body and the receiving tube body in this embodiment are arranged in sequence along a first direction, wherein the first direction is a direction perpendicular to the rotation axis of the optical transceiver part. Of course, in other embodiments, the first direction provided in this embodiment may also be other directions.

[0057] In an optional embodiment, the transmitting component 21 provided in this embodiment also includes a light beam emitter. The light beam emitter provided in this embodiment is installed on the first circuit board 23 and is electrically connected to the first circuit board 23 for emitting a light beam into the transmitting channel 21111.

[0058] In an optional embodiment, the light beam emitted by the light beam emitter provided in this embodiment is a laser.

[0059] In an optional embodiment, the receiving component 22 provided in this embodiment also includes an image sensor 222. The image sensor 222 provided in this embodiment is installed on the first circuit board 23 and is electrically connected to the first circuit board 23. The light beam reflected from the target object is focused onto the image sensor 222 through the receiving lens 2212. The image sensor 222 converts the light signal into an electrical signal so that the optical ranging device obtains the position information of the target object.

[0060] See also Figures 3 to 6 As shown, in an optional embodiment, the light-transmitting body 111 in this embodiment is cylindrical or truncated cone-shaped. When the light-transmitting body 111 is cylindrical, due to the regular geometric shape of the cylinder, the refraction and reflection of light in all directions are relatively uniform, and there will be no excessive concentration or dispersion of light due to irregular shape. This helps to maintain a uniform energy distribution of the light beam, so that the intensity variation of the emitted light beam in space is relatively stable, which is conducive to accurate detection of the target. When the light-transmitting body 111 is truncated cone-shaped, since the upper and lower bottom surfaces of the truncated cone are parallel, and its side surface is a gradually changing curved surface, during the light propagation process, the light can be converged or diverged to a certain extent. After the light beam is emitted from the emission tube body 2111, the truncated cone-shaped light-transmitting body 111 can guide the light to diffuse outward within a certain angle range, so that the light beam covers a wider area, while also ensuring the directionality of light propagation, which is conducive to expanding the scanning range.

[0061] In an optional embodiment, the optical ranging device provided in this embodiment further includes a rotating support portion 30 , the rotating support portion 30 includes a rotating support assembly 31 , the rotating support assembly 31 is rotatably mounted in the accommodating cavity 13 , and the optical transceiver 20 is fixedly mounted on the rotating support assembly 31 .

[0062] In a specific embodiment, the optical transceiver 20 provided in this embodiment is rotatably installed in the accommodating cavity 13 via a rotating support assembly 31 , and the rotation axis of the rotating support assembly 31 forms the rotation axis of the optical transceiver 20 .

[0063] In an optional embodiment, the optical transceiver 20 provided in this embodiment also includes a second circuit board 24. The second circuit board 24 provided in this embodiment is fixedly installed on the rotating support assembly 31, and the first circuit board 23 is fixedly installed on the second circuit board 24 and electrically connected to the second circuit board 24.

[0064] In an optional embodiment, the counterweight assembly provided in this embodiment includes a first counterweight block, which is installed on the first circuit board 23 and / or the second circuit board 24 and is located on the side of the transmitting assembly 21 away from the receiving assembly 22.

[0065] In another embodiment, the counterweight assembly provided in this embodiment includes a second counterweight block. The second counterweight block provided in this embodiment is installed on the rotating support assembly 31 and is located on a side of the transmitting assembly 21 away from the receiving assembly 22 .

[0066] In an optional embodiment, the counterweight assembly provided in this embodiment is formed by electronic components on the first circuit board 23 and / or the second circuit board 24 .

[0067] In an optional embodiment, the vertical distance from the electronic components used to form the counterweight assembly on the second circuit board 24 provided in this embodiment to the second circuit board 24 is greater than the vertical distance from the lowest point of the transmitting tube body 2111 or the receiving tube body 2211 to the second circuit board 24.

[0068] In an optional embodiment, the second circuit board 24 provided in this embodiment is parallel to the axis of the launch channel 21111.

[0069] See also Figure 3 and Figure 4 As shown, in an optional embodiment, the rotation support assembly 31 provided in this embodiment includes a first middle shell 311 and a first rotating shaft 312, and the rotation support part 30 also includes a first shaft sleeve 32. The first rotating shaft 312 provided in this embodiment is fixedly installed on the first middle shell 311, and the first shaft sleeve 32 is arranged in the accommodating cavity 13 and extends along the axial direction of the optical ranging device. A first mounting hole is provided on the first shaft sleeve 32, and the first mounting hole extends along the axial direction of the optical ranging device. The first rotating shaft 312 is rotatably installed in the first mounting hole so that the first middle shell 311 can rotate relative to the shell part 10.

[0070] In an optional embodiment, the rotating support part 30 provided in this embodiment also includes a first bearing 33. The first bearing 33 provided in this embodiment is installed in the first mounting hole and is located between the first sleeve 32 and the first rotating shaft 312. The outer ring of the first bearing 33 abuts against the inner wall of the first mounting hole, and the inner ring of the first bearing 33 abuts against the outer wall of the first rotating shaft 312. The arrangement of the first bearing 33 between the first rotating shaft 312 and the first sleeve 32 can reduce the rotational resistance of the first rotating shaft 312, so that the rotating support part 30 can rotate more easily relative to the shell part 10.

[0071] In another embodiment, the rotation support part 30 provided in this embodiment includes a second middle shell and a second shaft sleeve. The rotation support part 30 also includes a second rotating shaft. The second shaft sleeve provided in this embodiment is fixedly installed on the second middle shell. The second rotating shaft is arranged in the accommodating cavity 13 and extends along the axial direction of the optical ranging device. A second mounting hole is provided on the second shaft sleeve. The second mounting hole extends along the axial direction of the optical ranging device. The second rotating shaft is rotatably installed in the second mounting hole so that the second middle shell can rotate relative to the shell body 10.

[0072] In another embodiment, the rotating support part 30 provided in this embodiment also includes a second bearing. The second bearing provided in this embodiment is installed in the second mounting hole and is located between the second sleeve and the second rotating shaft. The outer ring of the second bearing abuts against the inner wall of the second mounting hole, and the inner ring of the second bearing abuts against the outer wall of the second rotating shaft. The second bearing is arranged between the second rotating shaft and the second sleeve to reduce the rotational resistance of the second sleeve, so that the rotating support part 30 can rotate more easily relative to the shell part 10.

[0073] See also Figure 3 and Figure 4 As shown, in an optional embodiment, the optical ranging device provided in this embodiment further includes a driving unit 40, and the driving unit 40 provided in this embodiment includes a stator assembly 41 and a rotor assembly 42, wherein the stator assembly 41 is fixedly mounted on the base 12 and is located in the accommodating cavity 13, and the rotor assembly 42 is fixedly mounted on the rotating support assembly 31, and the rotor assembly 42 is sleeved on the outside of the stator assembly 41 or penetrated on the inside of the stator assembly 41. The rotor assembly 42 at least partially overlaps with the stator assembly 41 in the radial direction of the optical ranging device, and the rotating support assembly 31 can be driven to rotate relative to the shell portion 10 through the stator assembly 41 and the rotor assembly 42.

[0074] According to another aspect of the present application, a mobile robot is provided, which includes an optical ranging device, and the optical ranging device is the optical ranging device mentioned above.

[0075] In summary, the implementation of the optical ranging device and mobile robot provided in this embodiment has at least the following beneficial technical effects: the optical ranging device provided in this embodiment sets the axis of the light-transmitting body 111 to pass through the transmitting channel 21111 or the extended area of ​​the transmitting channel 21111, so that the optical ranging device provided in this embodiment can, when the light-transmitting body 111 is a rotating body, reduce the possibility or degree of the light beam emitted by the transmitting component 21 deviating from the direction when penetrating the light-transmitting body 111, and also reduce the possibility of the light beam emitted by the transmitting component 21 being reflected on the inner wall of the light-transmitting body 111 and entering the receiving component 22 and interfering with the signal reception of the receiving component 22, thereby improving the ranging effect of the optical ranging device.

[0076] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An optical distance measuring device, characterized in that: The optical distance measuring device comprises: A housing portion (10), the housing portion (10) comprising an upper cover (11) and a base (12), the upper cover (11) being mounted on the base (12), a receiving cavity (13) being formed between the upper cover (11) and the base (12), the upper cover (11) comprising a light-transmitting body (111), and the light-transmitting body (111) being a rotating body; an optical transceiver (20), the optical transceiver (20) being rotatably mounted on the accommodating cavity (13), the optical transceiver (20) comprising a transmitting component (21) and a receiving component (22), the transmitting component (21) being used to transmit a light beam to a target object, and the receiving component (22) being used to receive a light beam reflected from the target object; The emitting component (21) is provided with an emitting channel (21111), and the light beam emitted by the emitting component (21) is emitted to the target object through the emitting channel (21111) and the light-transmitting body (111), and the axis of the light-transmitting body (111) passes through the emitting channel (21111) or an extended area of ​​the emitting channel (21111).

2. The optical distance measuring device according to claim 1, wherein: The rotation axis of the optical transceiver (20) is collinear with the axis of the light-transmitting body (111); And / or, the axis of the emission channel (21111) intersects with the axis of the light-transmitting body (111).

3. The optical distance measuring device according to claim 1, wherein: The launching assembly (21) comprises a launching tube body (2111) and a launching lens (2112); the launching channel (21111) is provided in the launching tube body (2111); the launching channel (21111) extends along the length direction of the launching tube body (2111); and the launching lens (2112) is installed in the launching channel (21111); The optical axis of the emission lens (2112) is collinear or parallel to the axis of the emission channel (21111).

4. The optical distance measuring device according to claim 3, wherein: The first end of the launch tube body (2111) is concave inwardly in a direction away from the inner wall of the light-transmitting body (111); wherein the first end of the launch tube body (2111) is an end of the launch tube body (2111) close to the inner wall of the light-transmitting body (111).

5. The optical distance measuring device according to claim 1, wherein: A receiving channel (22111) is provided on the receiving component (22); the projections of the receiving channel (22111) and the transmitting channel (21111) on a reference plane at least partially overlap, and the reference plane is a plane parallel to the axis of the transmitting channel (21111) and parallel to the axis of the light-transmitting body (111), and / or the axis of the receiving channel (22111) is parallel to the axis of the transmitting channel (21111), and / or the axis of the receiving channel (22111) and the axis of the transmitting channel (21111) are on the same plane perpendicular to the axis of the light-transmitting body (111).

6. The optical distance measuring device according to claim 5, characterized in that: The receiving assembly (22) includes a receiving tube body (2211) and a receiving lens (2212); the receiving channel (22111) is provided in the receiving tube body (2211); the receiving channel (22111) extends along the length direction of the receiving tube body (2211); the receiving lens (2212) is installed in the receiving channel (22111); the optical axis of the receiving lens (2212) is collinear or parallel to the axis of the receiving channel (22111).

7. The optical distance measuring device according to claim 6, wherein: The first end of the receiving tube body (2211) protrudes outward toward the inner side wall of the light-transmitting body (111); wherein the first end of the receiving tube body (2211) is an end of the receiving tube body (2211) close to the inner side wall of the light-transmitting body (111).

8. The optical distance measuring device according to claim 1, wherein: The optical transceiver (20) further includes a first circuit board (23), and the transmitting component (21) and the receiving component (22) are both mounted on the first circuit board (23) and electrically connected to the first circuit board (23); The optical transceiver (20) further comprises a counterweight assembly, the counterweight assembly being arranged on a side of the transmitting assembly (21) away from the receiving assembly (22); and / or the optical transceiver (20) further comprises a high-voltage electrical component, the high-voltage electrical component at least partially overlaps with a projection of the transmitting assembly (21) or the receiving assembly (22) on a reference plane, the reference plane being a plane parallel to the axis of the transmitting channel (21111) and parallel to the axis of the light-transmitting body (111), the high-voltage electrical component being arranged on a side of the transmitting assembly (21) away from the receiving assembly (22) and electrically connected to the first circuit board (23).

9. The optical distance measuring device according to any one of claims 1 to 8, characterized in that: The optical transceiver (20) comprises at least one transmitting component (21) and at least one receiving component (22), and the number of the transmitting components (21) is the same as the number of the receiving components (22); Alternatively, the optical transceiver (20) comprises a plurality of transmitting components (21) and a plurality of receiving components (22), the plurality of transmitting components (21) being arranged at intervals along the circumference of the light-transmitting body (111), and the plurality of receiving components (22) corresponding one-to-one to the plurality of transmitting components (21); And / or, the upper cover (11) is movably mounted on the base (12).

10. A mobile robot, characterized in that: The mobile robot includes an optical ranging device, and the optical ranging device is the optical ranging device according to any one of claims 1 to 9.

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