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, a laser distance measuring part and a communication part, and the shell part is provided with a first circuit board; the laser ranging part comprises a second circuit board, and the second circuit board is rotatably mounted in the shell part; the communication part comprises a first communication component and a second communication component, the first communication component is mounted on the first circuit board, and the second communication component is mounted on the second circuit board; the first communication assembly is at least partially overlapped with the first circuit board in the thickness direction of the first circuit board; and / or at least part of the second communication assembly is overlapped with the second circuit board in the thickness direction of the second circuit board. According to the optical distance measuring device provided by the invention, the occupied space of the first circuit board and the first communication assembly and / or the second circuit board and the second communication assembly in the axial direction of the optical distance measuring device can be reduced, so that the axial size of the optical distance measuring device can be designed to be smaller.

Description

[0001] This application claims the patent application number filed with the China Patent Office on October 31, 2024

[0002] 202422666329.3, the priority of the Chinese patent application entitled “Optical ranging device and mobile robot”, the entire content of which is incorporated into this application by reference. Technical Field

[0003] 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

[0004] LiDAR is a common optical ranging device. Its operating principle is to transmit a detection signal toward a target and then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, it can obtain relevant information about the target, such as its distance, direction, altitude, speed, attitude, and even shape.

[0005] Rotating LiDARs primarily consist of a laser ranging module, a drive module, a housing assembly, an encoding module, and a communication module. These components occupy a certain amount of space in both the height and width directions of the LiDAR. Currently, end products using rotating LiDARs, such as cleaning robots, place higher demands on their miniaturization. Utility Model Content

[0006] The purpose of the embodiments of the present application is to provide an optical ranging device and a mobile robot. By arranging the communication part and the circuit board to at least partially overlap in the thickness direction of the circuit board, it is beneficial to reduce the axial size of the optical ranging device, thereby providing design space for the miniaturization of the optical ranging device.

[0007] 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, a laser ranging portion and a communication portion, wherein a first circuit board is provided on the shell portion; the laser ranging portion includes a second circuit board, and the second circuit board is rotatably installed in the shell portion; the communication portion includes a first communication component and a second communication component, the first communication component is installed on the first circuit board and electrically connected to the first circuit board, the second communication component is installed on the second circuit board and electrically connected to the second circuit board, the position of the first communication component corresponds to the position of the second communication component, and the first circuit board and the second circuit board communicate with each other through the first communication component and the second communication component; the first communication component at least partially overlaps with the first circuit board in the thickness direction of the first circuit board; and / or the second communication component at least partially overlaps with the second circuit board in the thickness direction of the second circuit board.

[0008] Optionally, a first clearance through hole is provided on the first circuit board, the first clearance through hole connects two opposite sides of the first circuit board in the thickness direction, and the first communication component is at least partially passed through the first clearance through hole; and / or, a second clearance through hole is provided on the second circuit board, the second clearance through hole connects two opposite sides of the second circuit board in the thickness direction, and the second communication component is at least partially passed through the second clearance through hole.

[0009] Optionally, when a first clearance hole is provided on the first circuit board, the first communication component is connected to a side of the first circuit board away from the second circuit board; when a second clearance hole is provided on the second circuit board, the second communication component is connected to a side of the second circuit board away from the first circuit board.

[0010] Optionally, a first mounting recess is provided on a side of the first circuit board close to the second circuit board, and the first communication component is at least partially installed in the first mounting recess; and / or a second mounting recess is provided on a side of the second circuit board close to the first circuit board, and the second communication component is at least partially installed in the second mounting recess.

[0011] Optionally, the optical ranging device also includes a rotating support portion, which is at least partially located between the second circuit board and the first circuit board. The rotating support portion includes a rotating support assembly, which is rotatably installed in the shell portion, and the second circuit board is fixedly installed on the rotating support assembly; a makeshift channel is provided on the rotating support portion, and the positions of the first communication assembly and the second communication assembly correspond to the positions of the makeshift channel. The first communication assembly is located on the side of the makeshift channel close to the first circuit board, and the second communication assembly is located on the side of the makeshift channel close to the second circuit board.

[0012] Optionally, the rotating support portion also includes a rotating shaft assembly, which extends along the axial direction of the optical ranging device, and a clearance channel is formed in the rotating shaft assembly; the rotating shaft assembly is rotatably installed in the shell portion, and the rotating support assembly is fixedly connected to the rotating shaft assembly, or the rotating shaft assembly is fixedly installed in the shell portion, and the rotating support assembly is rotatably installed on the rotating shaft assembly.

[0013] Optionally, the clearance channel extends along the rotation axis of the rotation support portion, the rotation axis of the rotation support portion is located in the clearance channel, and the first communication component and the second communication component are both located on an extension line of the rotation axis of the rotation support portion.

[0014] Optionally, the number of first communication components and the number of second communication components are both one, and the first communication component is configured to transmit data to the second communication component; or, the number of first communication components and the number of second communication components are both one, and the second communication component is configured to transmit data to the first communication component; or, the number of first communication components and the number of second communication components are both one, and the first communication component is configured to transmit data to the second communication component and receive data transmitted from the second communication component; or, the number of first communication components and the number of second communication components are both at least two, one first communication component is configured to transmit data to one second communication component, and another second communication component is configured to transmit data to another first communication component.

[0015] Optionally, the first communication component is at least partially located in the clearance channel, or the first communication component is located outside the clearance channel; and / or the second communication component is at least partially located in the clearance channel, or the second communication component is located outside the clearance channel.

[0016] 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.

[0017] 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 arranges the first communication component on the first circuit board and electrically connects the first communication component to the first circuit board, arranges the second communication component on the second circuit board and electrically connects the second communication component to the second circuit board, and at the same time arranges the position of the first communication component to correspond to the position of the second communication component, so that the first circuit board and the second circuit board can communicate with each other through the first communication component and the second communication component. At the same time, by arranging the first communication component to at least partially overlap with the first circuit board in the thickness direction of the first circuit board, and / or arranging the second communication component to at least partially overlap with the second circuit board in the thickness direction of the second circuit board, the space occupied by the first circuit board and the first communication component, and / or the second circuit board and the second communication component in the axial direction of the optical ranging device can be reduced, so that the axial size of the optical ranging device can be designed to be smaller. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1A schematic structural diagram of an optical distance measuring device provided in an embodiment of the present application;

[0020] Figure 2 A schematic cross-sectional view of an optical distance measuring device provided in an embodiment of the present application;

[0021] Figure 3 for Figure 2 A partial enlarged view of area A in the middle;

[0022] Figure 4 for Figure 2 A partial enlarged view of the middle B area;

[0023] Figure 5 A schematic structural diagram of a second circuit board equipped with a second communication component provided in an embodiment of the present application;

[0024] Figure 6 A schematic structural diagram of a second circuit board equipped with a second communication component from another perspective provided in an embodiment of the present application;

[0025] Figure 7 A schematic structural diagram of a second circuit board provided in an embodiment of the present application;

[0026] Figure 8 An exploded schematic diagram of an optical distance measuring device provided in an embodiment of the present application;

[0027] Figure 9 A partial cross-sectional schematic diagram of an optical distance measuring device provided in an embodiment of the present application, in which a first clearance through hole is provided on a first circuit board;

[0028] The reference numerals used in the above drawings are as follows:

[0029] 10. Housing; 11. First circuit board; 111. First clearance hole; 12. Base; 13. Upper cover;

[0030] 20. Laser ranging unit; 21. Second circuit board; 211. Second clearance through hole; 22. Laser ranging assembly;

[0031] 31. First communication component; 32. Second communication component;

[0032] 40. Rotation support portion; 41. Clearance channel; 42. First middle housing; 43. First rotating shaft; 44. First shaft sleeve; 45. First bearing;

[0033] 50. Driving unit; 51. Stator assembly; 52. Rotor assembly. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] After analyzing the existing technology, the inventors of this application found that when setting up the communication module of a rotating laser radar, the communication module and the circuit board are arranged in sequence in the axial direction of the laser radar. This is one of the reasons why the axial size of the laser radar is larger.

[0039] See also Figures 1 to 9As 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, a shell portion 10, a laser ranging portion 20 and a communication portion, wherein a first circuit board 11 is provided on the shell portion 10; the laser ranging portion 20 includes a second circuit board 21, and the second circuit board 21 is rotatably installed in the shell portion 10; the communication portion includes a first communication component 31 and a second communication component 32, the first communication component 31 is installed on the first circuit board 11 and is electrically connected to the first circuit board 11, the second communication component 32 is installed on the second circuit board 21 and is electrically connected to the second circuit board 21, the position of the first communication component 31 corresponds to the position of the second communication component 32, and communication is performed between the first circuit board 11 and the second circuit board 21 through the first communication component 31 and the second communication component 32; the first communication component 31 at least partially overlaps with the first circuit board 11 in the thickness direction of the first circuit board 11; and / or the second communication component 32 at least partially overlaps with the second circuit board 21 in the thickness direction of the second circuit board 21. The optical ranging device provided in this embodiment arranges the first communication component 31 on the first circuit board 11 and electrically connects the first communication component 31 to the first circuit board 11, arranges the second communication component 32 on the second circuit board 21 and electrically connects the second communication component 32 to the second circuit board 21, and at the same time arranges the position of the first communication component 31 to correspond to the position of the second communication component 32, so that the first circuit board 11 and the second circuit board 21 can communicate with each other through the first communication component 31 and the second communication component 32. At the same time, by arranging the first communication component 31 to at least partially overlap with the first circuit board 11 in the thickness direction of the first circuit board 11, and / or arranging the second communication component 32 to at least partially overlap with the second circuit board 21 in the thickness direction of the second circuit board 21, the space occupied by the first circuit board 11 and the first communication component 31, and / or the second circuit board 21 and the second communication component 32 in the axial direction of the optical ranging device can be reduced, so that the axial size of the optical ranging device can be designed to be smaller.

[0040] See also Figures 2 to 4 and Figure 9 As shown, in a specific embodiment, a first clearance hole 111 is provided on the first circuit board 11 of this embodiment. The first clearance hole 111 connects two opposite sides of the first circuit board 11 in the thickness direction, and the first communication component 31 is at least partially disposed within the first clearance hole 111. By providing the first clearance hole 111 connecting two opposite sides of the first circuit board 11 in the thickness direction and disposing the first communication component 31 at least partially within the first clearance hole 111, the space occupied by the first communication component 31 and the first circuit board 11 in the axial direction of the optical distance measuring device can be at least partially overlapped, thereby enabling the axial dimension of the optical distance measuring device to be designed to be smaller.

[0041] See also Figure 2 、 Figure 3 and Figures 5 to 7 As shown, in a specific embodiment, a second clearance hole 211 is provided on the second circuit board 21 of this embodiment. The second clearance hole 211 connects two opposite sides of the second circuit board 21 in the thickness direction, and the second communication component 32 is at least partially disposed within the second clearance hole 211. By providing the second clearance hole 211 connecting two opposite sides of the second circuit board 21 in the thickness direction and disposing the second communication component 32 at least partially within the second clearance hole 211, the space occupied by the second communication component 32 and the second circuit board 21 in the axial direction of the optical distance measuring device can be at least partially overlapped, thereby reducing the axial dimension of the optical distance measuring device.

[0042] See also Figures 2 to 7 As shown, in a specific embodiment, when a first clearance hole 111 is provided on the first circuit board 11, the first communication component 31 is installed on a side of the first circuit board 11 away from the second circuit board 21; when a second clearance hole 211 is provided on the second circuit board 21, the second communication component 32 is installed on a side of the second circuit board 21 away from the first circuit board 11. Installing the first communication component 31 on the side of the first circuit board 11 away from the second circuit board 21 and allowing the first communication component 31 to at least partially overlap with the first circuit board 11 through the first clearance hole can facilitate the positioning and wiring between the first communication component 31 and the first circuit board 11, thereby improving the assembly efficiency between the first communication component 31 and the first circuit board 11. At the same time, installing the second communication component 32 on the side of the second circuit board 21 away from the first circuit board 11 and allowing the second communication component 32 to at least partially overlap with the second circuit board 21 through the second clearance hole can facilitate the positioning and wiring between the second communication component 32 and the second circuit board 21, thereby improving the assembly efficiency between the second communication component 32 and the second circuit board 21.

[0043] In another specific embodiment, a first mounting recess is provided on a side of the first circuit board 11 in proximity to the second circuit board 21, and the first communication component 31 is at least partially mounted within the first mounting recess. By providing the first mounting recess on a side of the first circuit board 11 in proximity to the second circuit board 21 and mounting the first communication component 31 at least partially within the first mounting recess, the space occupied by the first communication component 31 and the first circuit board 11 in the axial direction of the optical distance measuring device can at least partially overlap, thereby enabling the axial dimensions of the optical distance measuring device to be designed to be smaller.

[0044] In another specific embodiment, a second mounting recess is provided on the side of the second circuit board 21 in this embodiment that is close to the first circuit board 11, and the second communication component 32 is at least partially mounted in the second mounting recess. By providing the second mounting recess on the side of the second circuit board 21 that is close to the first circuit board 11 and mounting the second communication component 32 at least partially in the second mounting recess, the space occupied by the second communication component 32 and the second circuit board 21 in the axial direction of the optical ranging device can be at least partially overlapped, thereby enabling the axial dimension of the optical ranging device to be designed to be smaller.

[0045] See also Figure 2 As shown, in a specific embodiment, the optical ranging device in this embodiment also includes a rotating support part 40, and the rotating support part 40 is at least partially located between the second circuit board 21 and the first circuit board 11. The rotating support part 40 includes a rotating support assembly, and the rotating support assembly is rotatably installed in the shell part 10, and the second circuit board 21 is fixedly installed on the rotating support assembly; a makeshift channel 41 is provided on the rotating support part 40, and the positions of the first communication component 31 and the second communication component 32 correspond to the position of the makeshift channel 41. The first communication component 31 is located on the side of the makeshift channel 41 close to the first circuit board 11, and the second communication component 32 is located on the side of the makeshift channel 41 close to the second circuit board 21. By rotatably installing the rotating support assembly in the shell portion 10 and fixedly connecting the second circuit board 21 to the rotating support assembly, the second circuit board 21 provided in this embodiment can be rotatably installed in the shell portion 10 through the rotating support assembly. At the same time, by providing a clearance channel 41 corresponding to the positions of the first communication component 31 and the second communication component 32 on the rotating support assembly that is at least partially located between the second circuit board 21 and the first circuit board 11, a transmission channel can be provided for data transmission between the first communication component 31 and the second communication component 32, thereby ensuring the data transmission efficiency between the first communication component 31 and the second communication component 32 and improving the communication reliability between the first communication component 31 and the second communication component 32.

[0046] In an optional embodiment, the shell portion 10 provided in this embodiment includes a base 12 and an upper cover 13. The upper cover 13 provided in this embodiment is installed on the base 12. A first accommodating cavity is formed between the upper cover 13 and the base 12. The rotating support portion 40 provided in this embodiment can be rotatably installed in the first accommodating cavity.

[0047] In an optional embodiment, a second accommodating cavity is formed on a side of the base 12 provided in this embodiment away from the first accommodating cavity, and the first circuit board 11 provided in this embodiment is fixedly installed in the second accommodating cavity.

[0048] In a specific embodiment, the rotation support portion 40 in this embodiment further includes a shaft assembly, which extends axially along the optical distance measuring device, and a clearance channel 41 is formed within the shaft assembly; the shaft assembly is rotatably mounted within the housing portion 10, and the rotation support assembly is fixedly connected to the shaft assembly, or the shaft assembly is fixedly mounted within the housing portion 10, and the rotation support assembly is rotatably mounted to the shaft assembly. By configuring the clearance channel 41 provided in this embodiment to be formed within the shaft assembly, the second communication component 32 can maintain a corresponding position with the first communication component 31 when the second circuit board 21 rotates relative to the first circuit board 11, thereby ensuring stable communication between the first communication component 31 and the second communication component 32.

[0049] In an optional embodiment, the rotation support assembly provided in this embodiment includes a first middle shell 42, the shaft assembly includes a first shaft 43, and the rotation support part 40 also includes a first sleeve 44. The first shaft 43 provided in this embodiment is fixedly installed on the first middle shell 42, and the first sleeve 44 is arranged in the first accommodating cavity and extends along the axial direction of the optical ranging device. A first mounting hole is provided on the first sleeve 44, and the first mounting hole extends along the axial direction of the optical ranging device. The first shaft 43 can be rotatably installed in the first mounting hole so that the first middle shell 42 can rotate relative to the shell part 10.

[0050] In an optional embodiment, the rotating support part 40 provided in this embodiment also includes a first bearing 45. The first bearing 45 provided in this embodiment is installed in the first mounting hole and is located between the first sleeve 44 and the first rotating shaft 43. The outer ring of the first bearing 45 abuts against the inner wall of the first mounting hole, and the inner ring of the first bearing 45 abuts against the outer wall of the first rotating shaft 43. The arrangement of the first bearing 45 between the first rotating shaft 43 and the first sleeve 44 can reduce the rotational resistance of the first rotating shaft 43, so that the rotating support part 40 can rotate more easily relative to the shell part 10.

[0051] In an optional embodiment, the first rotating shaft 43 provided in this embodiment is located between the first communication component 31 and the second communication component 32 , and the yield channel 41 provided in this embodiment is arranged on the first rotating shaft 43 .

[0052] In another embodiment, the rotation support assembly provided in this embodiment includes a second middle shell and a second shaft sleeve, the shaft assembly includes a second shaft, the second shaft sleeve provided in this embodiment is fixedly installed on the second middle shell, the second shaft is arranged in the first accommodating cavity 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, and the second shaft is rotatably installed in the second mounting hole so that the second middle shell can rotate relative to the shell body 10.

[0053] In another embodiment, the rotating support part 40 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 40 can rotate more easily relative to the shell part 10.

[0054] In another embodiment, the second rotating shaft provided in this embodiment is located between the first communication component 31 and the second communication component 32 , and the clearance channel 41 provided in this embodiment is disposed on the second rotating shaft.

[0055] In a specific embodiment, the clearance channel 41 in this embodiment extends along the rotation axis of the rotating support portion 40, the rotation axis of the rotating support portion 40 is located within the clearance channel 41, and the first communication component 31 and the second communication component 32 are both located on the extension line of the rotation axis of the rotating support portion 40. The clearance channel 41 is set to extend along the rotation axis of the rotating support portion 40, and the rotation axis of the rotating support portion 40 is located within the clearance channel 41. At the same time, the first communication component 31 and the second communication component 32 are set to be located on the extension line of the rotation axis of the rotating support portion 40, so that the second communication component 32 can maintain a corresponding position with the first communication component 31 when the second circuit board 21 rotates relative to the first circuit board 11, thereby ensuring the communication stability between the first communication component 31 and the second communication component 32.

[0056] In a specific embodiment, the number of first communication components 31 and the number of second communication components 32 in this embodiment are both one, and the first communication component 31 is configured to transmit data to the second communication component 32; the number of first communication components 31 and the number of second communication components 32 are both set to one, and the first communication component 31 is configured to transmit data to the second communication component 32, so that the data on the first circuit board 11 can be transmitted to the second circuit board 21 through the first communication component 31 and the second communication component 32, thereby realizing communication from the first circuit board 11 to the second circuit board 21.

[0057] In an optional embodiment, the first communication component 31 provided in this embodiment is an optical transmitting component, and the second communication component 32 is an optical receiving component. The optical transmitting component and the optical receiving component can transmit data on the first circuit board 11 to the second circuit board 21, thereby realizing communication from the first circuit board 11 to the second circuit board 21.

[0058] In another embodiment, in this embodiment, the number of first communication components 31 and the number of second communication components 32 are both one, and the second communication component 32 is configured to transmit data to the first communication component 31; the number of first communication components 31 and the number of second communication components 32 are both set to one, and the second communication component 32 is configured to transmit data to the first communication component 31, so that the data on the second circuit board 21 can be transmitted to the first circuit board 11 through the second communication component 32 and the first communication component 31, thereby realizing communication from the second circuit board 21 to the first circuit board 11.

[0059] In another embodiment, the first communication component 31 provided in this embodiment is an optical receiving component, and the second communication component 32 is an optical transmitting component. The data on the second circuit board 21 can be transmitted to the first circuit board 11 through the optical transmitting component and the optical receiving component, thereby realizing communication from the second circuit board 21 to the first circuit board 11.

[0060] In another embodiment, in this embodiment, the number of first communication components 31 and the number of second communication components 32 are both one, and the first communication component 31 is configured to transmit data to the second communication component 32 and to receive data transmitted from the second communication component 32; the number of first communication components 31 and the number of second communication components 32 are both set to one, and the first communication component 31 is configured to transmit data to the second communication component 32 and to receive data transmitted from the second communication component 32, so that the data on the first circuit board 11 can be transmitted to the second circuit board 21 through the first communication component 31 and the second communication component 32, and the data on the second circuit board 21 can be transmitted to the first circuit board 11 through the first communication component 31 and the second communication component 32, thereby realizing two-way communication between the second circuit board 21 and the first circuit board 11.

[0061] In another embodiment, the first communication component 31 provided in this embodiment is a first optical transceiver component, and the second communication component 32 is a second optical transceiver component. The first optical transceiver component and the second optical transceiver component can realize data transmission between the first circuit board 11 and the second circuit board 21, thereby realizing two-way communication between the first circuit board 11 and the second circuit board 21.

[0062] In yet another embodiment, the number of first communication components 31 and the number of second communication components 32 in this embodiment are both at least two, one first communication component 31 is configured to transmit data to one second communication component 32, and another second communication component 32 is configured to transmit data to another first communication component 31. By setting the number of first communication components 31 and the number of second communication components 32 to at least two, and configuring one first communication component 31 to transmit data to one second communication component 32, and another second communication component 32 to transmit data to another first communication component 31, data on the first circuit board 11 can be transmitted to the second circuit board 21 via the first communication component 31 configured to transmit data to the second communication component 32 and the corresponding second communication component 32, and data on the second circuit board 21 can be transmitted to the first circuit board 11 via the second communication component 32 configured to transmit data to the first communication component 31 and the corresponding first communication component 31, thereby achieving bidirectional communication between the second circuit board 21 and the first circuit board 11.

[0063] In another embodiment, the at least two first communication components 31 provided in this embodiment include a light receiving component and a light emitting component, and the at least two second communication components 32 include a light receiving component and a light emitting component. The light emitting component on the second circuit board 21 and the light receiving component on the first circuit board 11 can transmit data on the second circuit board 21 to the first circuit board 11, thereby realizing communication from the second circuit board 21 to the first circuit board 11. The light receiving component on the second circuit board 21 and the light emitting component on the first circuit board 11 can transmit data on the first circuit board 11 to the second circuit board 21, thereby realizing communication from the first circuit board 11 to the second circuit board 21.

[0064] In a specific embodiment, the first communication component 31 in this embodiment is at least partially located in the make way channel 41, or the first communication component 31 is located outside the make way channel 41; setting the first communication component 31 to be at least partially located in the make way channel 41 can make the space occupied by the first communication component 31 and the rotating support part 40 in the axial direction of the optical ranging device at least partially overlap, so that the axial dimension of the optical ranging device can be designed to be smaller; setting the first communication component 31 provided in this embodiment to be located outside the make way channel 41 is beneficial to the heat dissipation of the first communication component 31, facilitates the daily maintenance, inspection and troubleshooting of the first communication component 31, reduces the selection requirements of the first communication component 31, and helps to reduce the production cost of the optical ranging device.

[0065] In a specific embodiment, the first communication component 31 provided in this embodiment is set to be at least partially located in the yield channel 41, which can ensure the signal transmission quality of the first communication component 31 and reduce the signal attenuation and bit error rate increase caused by external interference. At the same time, it can also provide a certain degree of physical protection for the first communication component 31 to prevent it from being damaged by external force impact, dust, water vapor, etc., thereby extending the service life of the communication part.

[0066] In a specific embodiment, the second communication component 32 of this embodiment is at least partially located within the clearance channel 41, or the second communication component 32 is located outside the clearance channel 41. Arranging the second communication component 32 to be at least partially located within the clearance channel 41 enables the space occupied by the second communication component 32 and the rotating support portion 40 in the axial direction of the optical distance measuring device to at least partially overlap, thereby enabling the axial dimension of the optical distance measuring device to be designed to be smaller; arranging the second communication component 32 provided in this embodiment to be located outside the clearance channel 41 is beneficial to heat dissipation of the second communication component 32, facilitates routine maintenance, inspection, and troubleshooting of the second communication component 32, reduces the selection requirements of the second communication component 32, and helps reduce the production cost of the optical distance measuring device.

[0067] In a specific embodiment, the second communication component 32 provided in this embodiment is set to be at least partially located in the yield channel 41, which can ensure the signal transmission quality of the second communication component 32, reduce signal attenuation and increased bit error rate due to external interference, and at the same time provide a certain degree of physical protection for the second communication component 32 to prevent it from being damaged by external force impact, dust, water vapor, etc., thereby extending the service life of the communication part.

[0068] See also Figure 2 and Figure 8 As shown, in an optional embodiment, the optical ranging device provided in this embodiment further includes a driving unit 50, and the driving unit 50 provided in this embodiment includes a stator assembly 51 and a rotor assembly 52, wherein the stator assembly 51 is fixedly mounted on the base 12 and is located in the first cavity, and the rotor assembly 52 is fixedly mounted on the rotating support portion 40, and the rotor assembly 52 is sleeved on the outside of the stator assembly 51 or penetrated on the inside of the stator assembly 51, and at least partially overlaps with the stator assembly 51 in the radial direction of the optical ranging device, and the rotating support portion 40 can be driven to rotate relative to the shell portion 10 through the stator assembly 51 and the rotor assembly 52.

[0069] In an optional embodiment, the laser ranging unit 20 provided in this embodiment further includes a laser ranging component 22. The laser ranging component 22 provided in this embodiment is fixedly mounted on a side of the second circuit board 21 away from the first circuit board 11 and is electrically connected to the second circuit board 21 for detecting the distance between the optical ranging device and the target object.

[0070] 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.

[0071] 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 first communication component 31 on the first circuit board 11 and electrically connects the first communication component 31 to the first circuit board 11, sets the second communication component 32 on the second circuit board 21 and electrically connects the second communication component 32 to the second circuit board 21, and at the same time, the position of the first communication component 31 corresponds to the position of the second communication component 32, so that the first circuit board 11 and the second circuit board 21 can communicate with each other through the first communication component 31 and the second communication component 32. At the same time, by setting the first communication component 31 to at least partially overlap with the first circuit board 11 in the thickness direction of the first circuit board 11, and / or setting the second communication component 32 to at least partially overlap with the second circuit board 21 in the thickness direction of the second circuit board 21, the space occupied by the first circuit board 11 and the first communication component 31, and / or the second circuit board 21 and the second communication component 32 in the axial direction of the optical ranging device can be reduced, so that the axial size of the optical ranging device can be designed to be smaller.

[0072] 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), wherein a first circuit board (11) is provided on the housing portion (10); A laser distance measuring unit (20), the laser distance measuring unit (20) comprising a second circuit board (21), the second circuit board (21) being rotatably mounted in the housing (10); A communication unit, the communication unit comprising a first communication component (31) and a second communication component (32), the first communication component (31) being mounted on the first circuit board (11) and being electrically connected to the first circuit board (11), the second communication component (32) being mounted on the second circuit board (21) and being electrically connected to the second circuit board (21), the position of the first communication component (31) corresponding to the position of the second communication component (32), and the first circuit board (11) and the second circuit board (21) communicating with each other via the first communication component (31) and the second communication component (32); The first communication component (31) at least partially overlaps with the first circuit board (11) in the thickness direction of the first circuit board (11); And / or, the second communication component (32) at least partially overlaps with the second circuit board (21) in the thickness direction of the second circuit board (21).

2. The optical distance measuring device according to claim 1, wherein: A first clearance through hole (111) is provided on the first circuit board (11), the first clearance through hole (111) communicating with two opposite sides of the first circuit board (11) in a thickness direction, and the first communication component (31) is at least partially disposed in the first clearance through hole (111); And / or, a second clearance through hole (211) is provided on the second circuit board (21), the second clearance through hole (211) connects two opposite sides of the second circuit board (21) in a thickness direction, and the second communication component (32) is at least partially arranged in the second clearance through hole (211).

3. The optical distance measuring device according to claim 2, wherein: When the first clearance through hole (111) is provided on the first circuit board (11), the first communication component (31) is connected to a side of the first circuit board (11) away from the second circuit board (21); When the second clearance through hole (211) is provided on the second circuit board (21), the second communication component (32) is connected to a side of the second circuit board (21) away from the first circuit board (11).

4. The optical distance measuring device according to claim 1, wherein: A first mounting recess is provided on a side of the first circuit board (11) close to the second circuit board (21), and the first communication component (31) is at least partially mounted in the first mounting recess; And / or, a second mounting recess is provided on a side of the second circuit board (21) close to the first circuit board (11), and the second communication component (32) is at least partially mounted in the second mounting recess.

5. The optical distance measuring device according to any one of claims 1 to 4, characterized in that: The optical distance measuring device further comprises a rotating support portion (40), wherein the rotating support portion (40) is at least partially located between the second circuit board (21) and the first circuit board (11), and the rotating support portion (40) comprises a rotating support assembly, wherein the rotating support assembly is rotatably mounted in the housing portion (10), and the second circuit board (21) is fixedly mounted on the rotating support assembly; A clearance channel (41) is provided on the rotating support portion (40), and the positions of the first communication component (31) and the second communication component (32) both correspond to the position of the clearance channel (41). The first communication component (31) is located on a side of the clearance channel (41) close to the first circuit board (11), and the second communication component (32) is located on a side of the clearance channel (41) close to the second circuit board (21).

6. The optical distance measuring device according to claim 5, characterized in that: The rotating support portion (40) further comprises a rotating shaft assembly, the rotating shaft assembly extending along the axial direction of the optical distance measuring device, and the clearance channel (41) is formed in the rotating shaft assembly; The rotating shaft assembly is rotatably mounted in the housing portion (10), and the rotating support assembly is fixedly connected to the rotating shaft assembly, or the rotating shaft assembly is fixedly mounted in the housing portion (10), and the rotating support assembly is rotatably mounted on the rotating shaft assembly.

7. The optical distance measuring device according to claim 5, characterized in that: The clearance channel (41) extends along the rotation axis of the rotation support part (40), the rotation axis of the rotation support part (40) is located in the clearance channel (41), and the first communication component (31) and the second communication component (32) are both located on the extension line of the rotation axis of the rotation support part (40).

8. The optical distance measuring device according to claim 5, wherein: The number of the first communication components (31) and the number of the second communication components (32) are both one, and the first communication component (31) is configured to transmit data to the second communication component (32); Or, the number of the first communication components (31) and the number of the second communication components (32) are both one, and the second communication component (32) is configured to transmit data to the first communication component (31); Or, the number of the first communication components (31) and the number of the second communication components (32) are both one, and the first communication component (31) is configured to transmit data to the second communication component (32) and receive data transmitted from the second communication component (32); Alternatively, the number of the first communication components (31) and the number of the second communication components (32) are both at least two, one first communication component (31) is configured to transmit data to one second communication component (32), and another second communication component (32) is configured to transmit data to another first communication component (31).

9. The optical distance measuring device according to claim 5, characterized in that: The first communication component (31) is at least partially located in the clearance passage (41), or the first communication component (31) is located outside the clearance passage (41); And / or, the second communication component (32) is at least partially located in the clearance passage (41), or the second communication component (32) is located outside the clearance passage (41).

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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