Optical distance measuring device and self-walking robot

Abstract

The utility model provides an optical distance measuring device and a self-walking robot, and the device comprises a transmitting assembly which comprises a transmitting lens group and a light transmitter, and the light transmitter is used for transmitting a transmitting light beam; the receiving assembly comprises a receiving mirror group and a light receiver, and the light receiver is used for receiving a receiving light beam which is reflected by an external object from the optical distance measuring device and passes through the receiving mirror group; the receiving lens group is fixedly arranged on the base, a groove is formed in the base, and the concave direction of the groove is a direction far away from the receiving lens group; a containing cavity is defined between the groove and the receiving lens set, and the light receiver is arranged in the containing cavity. According to the optical distance measuring device provided by the invention, the groove is formed in the base, and the optical receiver is arranged in the accommodating cavity between the groove and the receiving lens group, so that the influence of stray light on the propagation of the received light beam between the receiving lens group and the optical receiver is reduced, and the distance measuring reliability is improved.

Description

[0001] This application is a divisional application of the application filed with the China National Intellectual Property Administration on April 30, 2024, with application number 202420952584.1 and patent title "Optical ranging device and self-walking robot". Technical Field

[0002] This application belongs to the field of optical ranging, and particularly relates to an optical ranging device and a self-propelled robot. Background Technology

[0003] In existing coaxial transceiver optical ranging devices (such as lidar), the light transmitter, transmitting lens group, receiving lens group, and light receiver are generally fixedly mounted on a base. On the one hand, in order to ensure that the distance between the receiving lens group and the light receiver meets the focal length of the receiving lens group, the height of the base needs to be relatively large. On the other hand, in order to accommodate other components, the cavity of the base needs to have a larger lateral dimension than the receiving lens group. This makes the propagation of the received beam between the receiving lens group and the light receiver easily affected by stray light, thereby reducing the reliability of ranging. Utility Model Content

[0004] To address the aforementioned technical problems, this application provides an optical ranging device and a self-propelled robot having the same. By setting a groove on the base and placing the optical receiver in the cavity between the groove and the receiving mirror group, it is beneficial to reduce the influence of stray light on the propagation of the received beam between the receiving mirror group and the optical receiver, thereby improving the reliability of ranging.

[0005] The specific technical solution of this application is as follows:

[0006] An optical ranging device, comprising:

[0007] The emitting assembly includes an emitting mirror group and a light emitter, the light emitter being used to emit an emitted light beam;

[0008] The receiving component includes a receiving mirror group and a light receiver, the light receiver being used to receive a light beam reflected from an external object from the optical ranging device and received by the receiving mirror group;

[0009] A base is provided, on which the receiving lens group is fixedly mounted; the base is provided with a groove, the recessed direction of which is away from the receiving lens group; a receiving cavity is defined between the groove and the receiving lens group, and the light receiver is disposed in the receiving cavity.

[0010] In addition, the optical ranging device according to this application may also have the following additional technical features.

[0011] In some examples of this application, the optical ranging device further includes a circuit board, the circuit board including a second circuit board portion on which the light receiver is disposed, and the second circuit board portion being disposed within the receiving cavity.

[0012] In some examples of this application, the optical ranging device further includes a fixed bracket, which is fixedly mounted on the base; the fixed bracket includes a lower extension bracket portion, the upper end of which is fixedly connected to the receiving lens group, and the lower end of which extends toward the groove, and the receiving cavity is defined between the groove, the receiving lens group and the lower extension bracket portion.

[0013] In some examples of this application, the lower end of the lower extension bracket extends into the groove.

[0014] In some examples of this application, the circuit board further includes a first circuit board portion disposed outside the lower extension bracket portion; the lower extension bracket portion has a notch through which the connection portion between the first circuit board portion and the second circuit board portion passes.

[0015] In some examples of this application, the lower extension bracket portion is formed as a first extension column unit, the first extension column unit is a C-shaped ring structure with the notch, the C-shaped opening of the first extension column unit is formed as the notch, and the upper end of the first extension column unit is fixedly connected to the receiving lens group; or, the lower extension bracket portion includes a plurality of second extension column units, the plurality of second extension column units are circumferentially spaced around the second circuit board portion, the upper end of the second extension column unit is fixedly connected to the receiving lens group, wherein the interval between two second extension column units is formed as the notch.

[0016] In some examples of this application, the receiving mirror assembly is provided with a light emitting aperture, which is part of the receiving cavity; the light emitting aperture is used to allow the emitted light beam emitted by the light emitter to pass through, and the emitting mirror assembly is disposed inside the light emitting aperture or outside the side of the light emitting aperture away from the light emitter.

[0017] In some examples of this application, a portion of the second circuit board is disposed within the light emitting aperture, or is completely disposed within the light emitting aperture, or is completely disposed outside the light emitting aperture and disposed within the receiving cavity; the light emitter is disposed on the side of the second circuit board near the emitting mirror group, and the light receiver is disposed on the side of the second circuit board away from the emitting mirror group; the optical ranging device further includes a lower reflector assembly, which is used to reflect the received light beam after passing through the receiving mirror group to the light receiver; the lower reflector assembly is disposed within the receiving cavity, or the groove is formed as the lower reflector assembly.

[0018] In some examples of this application, the circuit board further includes a first circuit board portion disposed radially outside the receiving mirror group; the receiving mirror group is provided with a circuit board clearance groove, the circuit board clearance groove extends radially along the receiving mirror group and communicates with the light emitting aperture, and the connection portion between the first circuit board portion and the second circuit board portion passes through the circuit board clearance groove.

[0019] In some examples of this application, the first circuit board portion is fitted over the second circuit board portion, and the first circuit board portion and the second circuit board portion are provided with the connecting portion and the clearance portion, the clearance portion being used to allow the received light beam after passing through the receiving lens group to pass through.

[0020] In some examples of this application, the optical ranging device further includes a lower reflector assembly for reflecting the received light beam after passing through the receiving lens group to the optical receiver; the lower reflector assembly is disposed in the groove, or the groove is formed as the lower reflector assembly.

[0021] In some examples of this application, along the axial direction of the receiving mirror group, the lower reflector assembly is spaced apart from the receiving mirror group and the light receiver, respectively, the reflective surface of the lower reflector assembly is opposite to the receiving mirror group, and the reflective surface of the lower reflector assembly is opposite to the light receiver.

[0022] In some examples of this application, the optical ranging device further includes a fixed bracket, which is fixedly mounted on the base; the fixed bracket includes a lower extension bracket portion, the upper end of which is fixedly connected to the receiving lens group, and the lower end of which is fixedly connected to the lower reflector assembly.

[0023] In some examples of this application, the emitting mirror group, the light emitter, and the light receiver are arranged sequentially along the axial direction of the emitting mirror group; and / or, the axis of the emitting mirror group is parallel to or coaxial with the axis of the receiving mirror group.

[0024] In some examples of this application, the optical ranging device further includes a base and an upper reflector assembly, the upper reflector assembly being rotatably mounted on the base, the upper reflector assembly being used to reflect the emitted light beam emitted by the light emitter to the external area of ​​the optical ranging device, and the rotation axis of the upper reflector assembly, the axis of the emitting mirror group, and the axis of the receiving mirror group being coaxial.

[0025] This application also provides a self-propelled robot, including a robot body and an optical ranging device provided in the embodiments of this application.

[0026] The optical ranging device and self-propelled robot provided in this application, by setting a groove on the base and placing the optical receiver in the receiving cavity between the groove and the receiving mirror group, can reduce the influence of stray light on the propagation of the received beam between the receiving mirror group and the optical receiver, thereby improving the reliability of ranging.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the self-walking robot provided in the embodiments of this application.

[0029] Figure 2 This is a cross-sectional view of an optical ranging device provided in one embodiment of this application.

[0030] Figure 3 This is a cross-sectional view of the receiving lens assembly and fixed bracket of an optical ranging device provided in another embodiment of this application.

[0031] Figure 4 This is a bottom view of the fixed module of an optical ranging device provided in one embodiment of this application.

[0032] Figure 5 This is a bottom view of the fixed module of an optical ranging device provided in another embodiment of this application.

[0033] Figure 6 This is a cross-sectional view of an optical ranging device provided in another embodiment of this application.

[0034] Figure 7 This is a top view of the fixed module of an optical ranging device provided in one embodiment of this application.

[0035] Figure 8 This is a cross-sectional view of an optical ranging device provided in another embodiment of this application.

[0036] Figure 9This is a cross-sectional view of the upper reflector assembly of the optical ranging device provided in the embodiments of this application.

[0037] Figure label:

[0038] 1000. Optical ranging device;

[0039] 100. Fixed module;

[0040] 110. Fixed bracket; 111. Lower extension bracket section; 111a. Notch; 111b. First extension column unit; 111c. Second extension column unit; 112. Side extension bracket section; 112a. Extension plate unit; 113. Reinforcing structure;

[0041] 120. Transmitting component; 121. Transmitting mirror assembly; 122. Light emitter;

[0042] 130. Receiver assembly; 131. Receiver lens group; 131a. Light emitting aperture; 131b. Circuit board clearance groove; 132. Light receiver;

[0043] 140. Lower mirror assembly; 141. Lower mirror; 142. Lower mirror adjustment mechanism;

[0044] 150. Circuit board; 151. First circuit board section; 152. Second circuit board section; 153. Connecting part; 154. Clearance part;

[0045] 161. First fastener; 164. Fourth fastener;

[0046] 200, base; 200a, groove; 200b, opening; 200c, bearing seat;

[0047] 300. Upper reflector assembly; 310. Upper reflector; 320. Rotary mount; 330. Bearing;

[0048] 2000, Self-propelled robot; 2100, Robot body. Detailed Implementation

[0049] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0051] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "vertical," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are used 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0052] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0053] The following is for reference. Figure 1-9 A detailed description is provided of the optical ranging device 1000 and the self-propelled robot 2000 according to embodiments of this application. For example... Figure 1 As shown, the self-propelled robot 2000 includes a robot body 2100 and an optical ranging device 1000. The self-propelled robot 2000 measures the distance to external objects using the optical ranging device 1000, thereby achieving self-propelled movement. The self-propelled robot 2000 can be a cleaning robot with functions such as sweeping and mopping, a service robot with functions such as food delivery and item delivery, a lawnmower robot with lawn mowing capabilities, or a transport robot used for moving goods in warehouses and factories, etc.

[0054] like Figure 2 As shown, the optical ranging device 1000 includes a transmitting assembly 120, a receiving assembly 130, a lower reflector assembly 140, and a circuit board 150. The transmitting assembly 120 includes a transmitting mirror group 121 and a light emitter 122, which emits a transmitted light beam. The receiving assembly 130 includes a receiving mirror group 131 and a light receiver 132, which receives the received light beam reflected from an external object and passed through the receiving mirror group 131 and the lower reflector assembly 140. The circuit board 150 has the light emitter 122 and the light receiver 132 mounted on it. The receiving mirror group 131 and the transmitting mirror group 121 are located on the same side of the circuit board 150.

[0055] The optical ranging device 1000 provided in this application embodiment folds the received light beam after passing through the receiving lens group 131 by setting a lower reflector assembly 140. Based on this, both the light emitter 122 and the light receiver 132 are further mounted on the circuit board 150, which saves a large amount of space occupied by a circuit board compared with the prior art, and realizes the integration and simplification of the structure. At the same time, since the distance between the circuit board 150 on which the light emitter 122 is mounted and the emitting lens group 121 corresponds to the focal length of the emitting lens group 121, and the distance between the circuit board 150 and the receiving lens group 131 after the received light beam is folded is smaller than the focal length of the receiving lens group 131, the optical ranging device 1000 is equipped with a lower reflector assembly 140. The focal length of group 131 is such that by placing the receiving lens group 131 and the transmitting lens group 121 on the same side of the circuit board 150, the overall size of the transmitting lens group 121, the receiving lens group 131, and the circuit board 150 along the direction perpendicular to the circuit board 150 can be made smaller. Specifically, it is about the larger of the distance between the circuit board 150 and the transmitting lens group 121 and the distance between the circuit board 150 and the receiving lens group 131, rather than the sum of the distances between the circuit board 150 and the transmitting lens group 121 and the receiving lens group 131, thus providing conditions for miniaturization of the optical ranging device 1000.

[0056] like Figure 2 As shown, in some embodiments, a light emitter 122 is provided on the side of the circuit board 150 near the emitting lens group 121, and a light receiver 132 is provided on the side of the circuit board 150 away from the emitting lens group 121. In some embodiments, the circuit board 150 can be a single circuit board, with the light emitter 122 disposed on the side of this single circuit board near the emitting lens group 121, and the light receiver 132 disposed on the side of this single circuit board away from the emitting lens group 121. In other embodiments, the circuit board 150 can be two circuit boards, with the light emitter 122 disposed on the side of one circuit board near the emitting lens group 121, and the light receiver 132 disposed on the side of the other circuit board away from the emitting lens group 121. The two circuit boards can be spaced apart or attached together.

[0057] like Figure 2As shown, in some embodiments, both the receiving mirror group 131 and the light receiver 132 are disposed on one side of the reflective surface of the lower reflector assembly 140. Specifically, along the axial direction of the receiving mirror group 131, the lower reflector assembly 140 is spaced apart from both the receiving mirror group 131 and the light receiver 132. The reflective surface of the lower reflector assembly 140 is positioned opposite to the receiving mirror group 131 and opposite to the light receiver 132. This provides space and distance for focusing the received light beam while folding the optical path of the received light beam, reducing the distance between the receiving mirror group 131 and the light receiver 132.

[0058] like Figure 2 As shown, in some embodiments, the receiving mirror group 131 is provided with a light emitting aperture 131a, which allows the emitted light beam emitted by the light emitter 122 to pass through. The light emitter 122 is disposed opposite to the transmitting mirror group 121 through the light emitting aperture 131a, and the transmitting mirror group 121 is disposed within the light emitting aperture 131a, thereby minimizing the distance between the transmitting mirror group 121 and the receiving mirror group 131. In other embodiments, the transmitting mirror group 121 may also be disposed outside the side of the light emitting aperture 131a away from the light emitter 122.

[0059] like Figure 6As shown, in some embodiments, the circuit board 150 includes a first circuit board portion 151 and a second circuit board portion 152. The first circuit board portion 151 is disposed radially outside the receiving mirror assembly 131, and the second circuit board portion 152 is partially or completely disposed within the light emitting aperture 131a. The second circuit board portion 152 is provided with a light emitter 122 and a light receiver 132. The first circuit board portion 151 and the second circuit board portion 152 are connected by a connecting portion 153. By partially or completely disposing of the second circuit board portion 152, which provides the light emitter 122 and the light receiver 132, within the light emitting aperture 131a, the corresponding arrangement of the light emitter 122 with the emitting mirror assembly 121 and the corresponding arrangement of the light receiver 132 with the receiving mirror assembly 131 and the lower reflector assembly 140 is ensured. Furthermore, it also prevents the received light beam from being blocked by the second circuit board portion 152 during focusing by the receiving mirror assembly 131, thereby increasing the amount of light beam that the light receiver 132 can receive and thus improving the reliability of ranging. Meanwhile, a first circuit board portion 151 with electronic components that are electrically connected to the light emitter 122 and the light receiver 132 is provided on the radially outer side of the receiving mirror group 131, ensuring a reasonable distribution of the various electronic components on the circuit board 150. In some embodiments, the light emitter 122 is provided on the side of the second circuit board portion 152 closest to the emitting mirror group 121, and the light receiver 132 is provided on the side of the second circuit board portion 152 furthest from the emitting mirror group 121. In some embodiments, the first circuit board portion 151 and the second circuit board portion 152 are integrally formed PCB boards; specifically, the first circuit board portion 151, the second circuit board portion 152, and the connecting portion 153 are integrally formed. In other embodiments, the first circuit board portion 151 and the second circuit board portion 152 are separately formed and connected by wires; preferably, the surfaces of the first circuit board portion 151 and the second circuit board portion 152 overlap.

[0060] like Figure 6 As shown, in some embodiments, the receiving lens assembly 131 is provided with a circuit board clearance groove 131b. The circuit board clearance groove 131b extends radially along the receiving lens assembly 131 and communicates with the light emitting aperture 131a. The connecting portion 153 between the first circuit board portion 151 and the second circuit board portion 152 passes through the circuit board clearance groove 131b. By providing the circuit board clearance groove 131b, the connecting portion 153 between the first circuit board portion 151 and the second circuit board portion 152 can be disposed within the circuit board clearance groove 131b, thereby minimizing the overall height of the receiving lens assembly 131 and the circuit board 150.

[0061] like Figure 4 or Figure 5As shown, in some embodiments, the first circuit board portion 151 is fitted over the second circuit board portion 152. A connecting portion 153 and a clearance portion 154 are provided between the first circuit board portion 151 and the second circuit board portion 152. The received light beam received by the receiving lens group 131 passes through the clearance portion 154 and reaches the lower reflector assembly 140. Then, the lower reflector assembly 140 reflects the received light beam back to the light receiver 132 on the second circuit board portion 152. By providing the clearance portion 154, the received light beam can pass through the circuit board 150 after being received by the receiving lens group 131 and reach the lower reflector assembly 140. This ensures the passability of the optical path while the second circuit board portion 152 is placed inside the light emitting aperture 131a.

[0062] like Figure 2 and Figure 6 As shown, in some embodiments, the optical ranging device 1000 further includes a base 200, and a circuit board 150 is disposed on the base 200. The base 200 has a groove 200a, the recessed direction of which is away from the light receiver 132, and a lower reflector assembly 140 is disposed within the groove 200a. By providing the groove 200a to accommodate the lower reflector assembly 140, the base 200 helps to reduce stray light reflection on the lower reflector assembly 140 and improves ranging reliability. In other embodiments, the groove 200a can be directly formed as the lower reflector assembly 140; specifically, the surface of the groove 200a facing the receiving mirror group 131 and the light receiver 132 is formed as a reflective surface.

[0063] like Figure 8 As shown, in some embodiments, the base 200 is provided with an opening 200b, through which the received light beam reaches the lower reflector assembly 140. By providing an opening 200b on the base 200, the space on the side of the base 200 away from the transmitting assembly 120, the receiving assembly 130, or the circuit board 150 is effectively utilized to house the lower reflector assembly 140, which has the advantages of simple structure and small size.

[0064] like Figure 2 , Figure 6 and Figure 8 As shown, in some embodiments, the emitting mirror group 121, the light emitter 122, the circuit board 150, the light receiver 132 and the lower reflector assembly 140 are arranged sequentially along the axial direction of the emitting mirror group 121. This arrangement allows these components to be arranged with smaller gaps, which helps to reduce the size of the fixed module 100 along the axial direction of the emitting mirror group 121.

[0065] like Figure 2 , Figure 6 and Figure 8As shown, in some embodiments, the axis of the transmitting mirror group 121 is parallel to or coaxial with the axis of the receiving mirror group 131. The coaxially arranged transmitting mirror group 121 and receiving mirror group 131 can reduce the near-range measurement blind zone of the optical ranging device 1000, while the parallelly arranged transmitting mirror group 121 and receiving mirror group 131 can be applied to non-uniform receiving mirror group 131 to improve the distance detection effect in a specific direction.

[0066] like Figure 9 As shown, in some embodiments, the optical ranging device 1000 further includes an upper reflector assembly 300, which is rotatably mounted on the base 200. The upper reflector assembly 300 is used to reflect the emitted light beam from the light emitter 122 to the external area of ​​the optical ranging device 1000. The rotation axis of the upper reflector assembly 300, the axis of the emitting mirror group 121, and the axis of the receiving mirror group 131 are coaxial. By setting the rotating upper reflector assembly 300, the light beam can be emitted and received at multiple angles during rotation, thereby enabling the optical ranging device 1000 to measure distances at multiple angles without requiring rotation of the emitting assembly 120 and the receiving assembly 130, resulting in a simple structure. In other embodiments, the optical ranging device 1000 may not have the rotating upper reflector assembly 300, thereby achieving unidirectional distance measurement by fixing the emitting assembly 120 and the receiving assembly 130 in the module 100.

[0067] like Figure 9 As shown, in some embodiments, the upper reflector assembly 300 includes an upper reflector 310 and a rotating base 320, which is rotatably mounted on a bearing seat 200c of the base 200 via a bearing 330. A clearance portion 154 is provided on the circuit board 150, through which the bearing seat 200c passes and engages with the bearing 330. By providing the clearance portion 154 on the circuit board 150 to allow clearance for the bearing seat 200c, structural compactness is improved. In some embodiments, the rotating base 320 engages with the outer surface of the bearing 330, the bearing seat 200c engages with the inner surface of the bearing 330, and the bearing seat 200c is fitted over the receiving mirror assembly 131. The radially inner portion of the clearance portion 154 allows the passing of the received light beam, and the radially outer portion of the clearance portion 154 allows the passing of the bearing seat 200c. In other embodiments, the rotating seat 320 mates with the inner side of the bearing 330, the bearing housing 200c mates with the outer side of the bearing 330, and the bearing 330 is fitted onto the receiving lens assembly 131. In other words, by nesting the bearing 330 and the receiving lens assembly 131 radially, the overall height of the bearing 330 and the receiving lens assembly 131 is effectively reduced, thereby providing conditions for miniaturization of the optical rangefinder 1000.

[0068] In some embodiments, the optical ranging device 1000 further includes a driving component (not shown) for driving the upper reflector assembly 300 to rotate.

[0069] In some embodiments, the drive assembly is coaxially arranged and directly connected to the upper reflector assembly 300. When space permits, especially vertical space, arranging the drive assembly coaxially with the upper reflector assembly 300 helps optimize the lateral dimensions of the optical rangefinder 1000. Furthermore, direct connection between the drive assembly and the upper reflector assembly 300 optimizes the vertical dimensions of the optical rangefinder 1000. It should be noted that vertical refers to… Figure 2 , Figure 6 , Figure 8 The vertical direction shown is the same as the horizontal direction, which is perpendicular to the vertical direction.

[0070] In other embodiments, the drive assembly is coaxially arranged with the upper reflector assembly 300 and is connected by a transmission assembly (not shown in the figure). When the arrangement space, especially the vertical space, allows, setting the drive assembly coaxially with the upper reflector assembly 300 is beneficial to optimizing the lateral dimensions of the optical rangefinder 1000. The drive assembly and the upper reflector assembly 300 are connected by a transmission assembly 500, which has a high degree of freedom in structural arrangement.

[0071] In other embodiments, the drive component is non-coaxially arranged and directly connected to the upper reflector assembly 300. When the arrangement space, especially the lateral space, allows, setting the drive component non-coaxially or even parallel to the upper reflector assembly 300 is beneficial to optimizing the vertical dimension of the optical rangefinder 1000. The direct connection between the drive component and the upper reflector assembly 300 can optimize the lateral dimension of the optical rangefinder 1000.

[0072] In other embodiments, the drive component and the upper reflector assembly 300 are not coaxially arranged and are connected by a transmission component. When the arrangement space, especially the lateral space, allows, setting the drive component to be non-coaxial or even parallel to the upper reflector assembly 300 is beneficial to optimizing the vertical dimensions of the optical rangefinder 1000. The drive component and the upper reflector assembly 300 are connected by a transmission component, which has a high degree of freedom in structural arrangement.

[0073] like Figure 2As shown, in some embodiments, the optical ranging device 1000 includes a fixed module 100 and a base 200, with the fixed module 100 fixedly mounted on the base 200. The fixed module 100 includes a fixed bracket 110, a transmitting assembly 120, a receiving assembly 130, a lower reflector assembly 140, and a circuit board 150. The receiving assembly 130, the lower reflector assembly 140, and the circuit board 150 are all fixedly connected to the fixed bracket 110. The transmitting assembly 121 includes a transmitting lens, which can be a single lens or a combination of multiple lenses; the receiving assembly 131 includes a receiving lens, which can be a single lens or a combination of multiple lenses.

[0074] The optical rangefinder 1000 emits a light beam through a light emitter 122 and receives the light beam through a light receiver 132. Based on the time from emission to reception or the optical path geometry, the distance between the optical rangefinder 1000 and an external object can be determined. The lower reflector assembly 140 folds the light beam received by the receiving mirror assembly 131, allowing the light emitter 122 and the light receiver 132 to be mounted together on the same circuit board 150. This significantly improves the integration of the optical rangefinder 1000 and reduces the size of the receiving assembly 130 along the axis of the receiving mirror assembly 131. Meanwhile, the receiving lens group 131 integrating the transmitting lens group 121, the circuit board 150 integrating the light transmitter 122 and the light receiver 132, and the lower reflector assembly 140 are all fixedly connected to the fixed bracket 110, thereby realizing the integration of these components that require installation and debugging, resulting in a modular fixed module 100. That is to say, after debugging on the fixed bracket 110, it can be installed on the base 200 as a whole, reducing a large number of connection structures and lowering the difficulty and cost of installation and debugging. It should be noted that the optical ranging device 1000 can be a lidar, that is, the beam emitted by the light transmitter 122 is a laser; or, the beam emitted by the light transmitter 122 may not be a laser, such as non-laser infrared light or visible light.

[0075] like Figure 3 As shown, in some embodiments, the mounting bracket 110 is integrally formed with the receiving lens assembly 131, thereby reducing the installation and connection steps for the receiving lens assembly 131 and reducing the difficulty and cost of connection structure and installation and debugging. It should be noted that the mounting bracket 110 and the receiving lens assembly 131 can be integrally formed using the same material in the same mold, or the receiving lens assembly 131 can be placed in the molding mold corresponding to the mounting bracket 110 and then the mounting bracket 110 can be cast, thus making the receiving lens assembly 131 and the mounting bracket 110 integrally formed.

[0076] like Figure 2-3As shown, in some embodiments, the fixed bracket 110 includes a lower extension bracket portion 111. The upper end of the lower extension bracket portion 111 is fixedly connected to the receiving lens group 131, and the lower end of the lower extension bracket portion 111 is fixedly connected to the lower reflector assembly 140. The receiving lens group 131 and the light receiver 132 are both disposed on one side of the reflective surface of the lower reflector assembly 140, such that the receiving lens group 131 and the lower reflector assembly 140 are spaced apart along the axial direction of the receiving lens group 131. The reflective surface of the lower reflector assembly 140 is disposed opposite to the receiving lens group 131 and opposite to the light receiver 132. Through the aforementioned arrangement of the lower extension bracket portion 111, the receiving lens group 131 and the lower reflector assembly 140 are spaced apart along the axial direction of the receiving lens group 131, providing space and distance for beam focusing while also supporting the lower reflector assembly 140.

[0077] like Figure 2-4 As shown, in some embodiments, the lower extension bracket portion 111 is provided with a notch 111a, and the circuit board 150 includes a first circuit board portion 151 and a second circuit board portion 152. The first circuit board portion 151 is disposed on the outer side of the lower extension bracket portion 111, and the second circuit board portion 152 is disposed on the inner side of the lower extension bracket portion 111. A light emitter 122 and a light receiver 132 are disposed on the second circuit board portion 152, and the connection portion 153 between the first circuit board portion 151 and the second circuit board portion 152 is provided with a notch 111a. By providing notch 111a, the light emitter 122 and the light receiver 132 are positioned inside the lower extension bracket 111. This ensures the corresponding arrangement of the light emitter 122 with the transmitting lens assembly 121, and the corresponding arrangement of the light receiver 132 with the receiving lens assembly 131 and the lower reflector assembly 140. Simultaneously, electronic components that connect to the light emitter 122 and the light receiver 132 are positioned on the outer side of the lower extension bracket 111, ensuring a reasonable distribution of the electronic components on the circuit board 150. In particular, for the integrally formed receiving lens assembly 131 and the fixed bracket 110, notch 111a is needed to connect the second circuit board portion 152 and the first circuit board portion 151 located within the lower extension bracket 111.

[0078] like Figure 4 As shown, in some embodiments, the lower extension support portion 111 is formed into a first extension column unit 111b. The first extension column unit 111b is a C-shaped ring structure with a notch 111a. The C-shaped opening of the first extension column unit 111b is formed as the notch 111a. The upper end of the first extension column unit 111b is fixedly connected to the receiving mirror assembly 131, and the lower end of the first extension column unit 111b is fixedly connected to the lower reflector assembly 140. The first extension column unit 111b with the C-shaped ring structure has high support strength.

[0079] like Figure 5 As shown, in some embodiments, the lower extension bracket 111 includes a plurality of second extension post units 111c. These second extension post units 111c are circumferentially spaced around the second circuit board portion 152. The upper end of each second extension post unit 111c is fixedly connected to the receiving lens assembly 131, and the lower end of each second extension post unit 111c is fixedly connected to the lower reflector assembly 140. The gap between two second extension post units 111c is formed as a notch 111a. For the plurality of second extension post units 111c, the area of ​​the lower end face of each second extension post unit 111c that mates with the lower reflector assembly 140 is relatively small, which facilitates maintaining good flatness during the processing of these lower end faces, thereby reducing installation errors and debugging time.

[0080] like Figure 6 As shown, in some embodiments, the circuit board 150 includes a first circuit board portion 151 and a second circuit board portion 152. The first circuit board portion 151 is disposed on the outer side of the lower extension bracket portion 111, and the second circuit board portion 152 is disposed on the inner side of the lower extension bracket portion 111. A light emitter 122 and a light receiver 132 are disposed on the second circuit board portion 152. A connection portion 153 between the first circuit board portion 151 and the second circuit board portion 152 passes through the receiving mirror assembly 131 and the lower extension bracket portion 111. By disposing of the light emitter 122 and the light receiver 132 on the inner side of the lower extension bracket portion 111, the corresponding arrangement of the light emitter 122 with the emitting mirror assembly 121 and the corresponding arrangement of the light receiver 132 with the receiving mirror assembly 131 and the lower reflector assembly 140 are ensured. At the same time, by disposing of electronic components that are electrically connected to the light emitter 122 and the light receiver 132 on the outer side of the lower extension bracket portion 111, the reasonable distribution of the various electronic components on the circuit board 150 is ensured. For the separate receiving lens assembly 131 and the fixed bracket 110, the connection between the second circuit board 152 located in the lower extension bracket 111 and the first circuit board 151 located in the lower extension bracket 111 can be achieved by passing the connecting portion 153 between the first circuit board portion 151 and the second circuit board portion 152 through the receiving lens assembly 131 and the lower extension bracket portion 111.

[0081] like Figure 6As shown, in some other embodiments, along the axial direction of the receiving mirror assembly 131, a circuit board clearance groove 131b is provided on the side of the receiving mirror assembly 131 near the lower extension bracket portion 111. The connecting portion 153 between the first circuit board portion 151 and the second circuit board portion 152 passes through the circuit board clearance groove 131b. The receiving mirror assembly 131 is provided with a light emission aperture 131a, which is used to allow the emitted light beam emitted by the light emitter 122 to pass through. The light emitter 122 is disposed opposite to the emitting mirror assembly 121 through the light emission aperture 131a. The emitting mirror assembly 121 is disposed inside the light emission aperture 131a or outside the side of the light emission aperture 131a away from the light emitter 122. Part of or all of the second circuit board portion 152 is disposed inside the light emission aperture 131a. By setting the circuit board clearance groove 131b to raise the height of the circuit board 150, especially the second circuit board part 152, relative to the receiving lens group 131, the second circuit board part 152 is partially or completely placed in the light emission hole 131a. This ensures that the light beam is not blocked by the second circuit board part 152 during the focusing process of the receiving lens group 131, thereby increasing the amount of light beam that the light receiver 132 can receive and thus improving the reliability of ranging.

[0082] like Figure 1 and Figure 7 As shown, in some embodiments, the fixing bracket 110 further includes a side extension bracket portion 112, which extends from the lower extension bracket portion 111 in a direction away from the lower extension bracket portion 111. The side extension bracket portion 112 is used for fixed connection with the circuit board 150. The fixed connection of the side extension bracket portion 112 to the circuit board 150 ensures the support width of the fixing bracket 110 for the circuit board 150, that is, ensures the support stability of the fixing bracket 110 for the circuit board 150.

[0083] like Figure 7 As shown, in some embodiments, the side extension bracket portion 112 includes a plurality of extension plate units 112a; the plurality of extension plate units 112a are circumferentially spaced around the lower extension bracket portion 111. In some embodiments, the extension lengths of the plurality of extension plate units 112a are the same, that is, the support width of the fixed bracket 110 on each extension plate unit 112a for the circuit board 150 is the same, ensuring the circumferential support stability of the fixed bracket 110 for the circuit board 150. In other embodiments, such as Figure 7 As shown, since the distribution of electronic components at different locations on the circuit board 150 is often different, the extension lengths of at least two extension board units 112a can also be different, thereby avoiding electronic components with different distributions on the circuit board 150.

[0084] like Figure 2As shown, in some embodiments, the circuit board 150 mates with and is fixedly connected to the lower surface of the side extension bracket portion 112. That is, the circuit board 150 is positioned on the lower surface of the side extension bracket portion 112 starting from the end of the lower extension bracket portion 111 away from the receiving lens assembly 131, and the circuit board 150 is fixed to the side extension bracket portion 112. If the receiving lens assembly 131 and the fixing bracket 110 are integrally formed, this mating method facilitates the assembly of the circuit board 150.

[0085] like Figure 6 As shown, in some other embodiments, the circuit board 150 is fitted and fixedly connected to the upper surface of the side extension bracket portion 112. For the separate fixed bracket 110 and receiving lens assembly 131, the circuit board 150 can be positioned on the upper surface of the side extension bracket portion 112 from top to bottom and the circuit board 150 can be fixed to the side extension bracket portion 112. Then, the receiving lens assembly 131, on which the transmitting lens assembly 121 is mounted, can be positioned above the circuit board 150 on which the light transmitter 122 and the light receiver 132 are mounted, and the receiving lens assembly 131 can be fixed to the lower extension bracket portion 111.

[0086] like Figure 3 As shown, in some embodiments, a reinforcing structure 113 is provided between the side extension bracket portion 112 and the lower extension bracket portion 111. Since the side extension bracket portion 112 is a structure that extends from the lower extension bracket portion 111 in a direction away from the lower extension bracket portion 111, the reinforcing structure 113 is provided to improve the reliability of the side extension bracket portion 112 in supporting the circuit board 150.

[0087] like Figure 7 As shown, in some embodiments, the fixing module 100 further includes a first fixing member 161, which is used to fix the fixing bracket 110 and the circuit board 150. By setting the first fixing member 161, the circuit board 150 is fixed on the fixing bracket 110, and the fixing bracket 110, as a supporting structural member, provides good support strength for the circuit board 150. In other embodiments, the fixing bracket 110 and the circuit board 150 can also be fixedly connected by applying adhesive.

[0088] In some embodiments, the fixing module 100 further includes a second fixing member (not shown in the figure), which is used to fix the fixing bracket 110 and the base 200. By providing the second fixing member, the fixing module 100 is connected and fixed to the base 200 through the fixing bracket 110. The fixing bracket 110, as a supporting structural member, provides good support strength for the fixing module 100 as a whole. In other embodiments, the fixing bracket 110 and the base 200 can also be fixedly connected by applying adhesive.

[0089] In some embodiments, the fixing module 100 further includes a third fixing member (not shown in the figure), which is used to fix the circuit board 150 and the base 200. By providing the third fixing member, the fixing module 100 is connected and fixed to the base 200 through the larger circuit board 150, which helps to simplify the structure. In other embodiments, the circuit board 150 and the base 200 can also be fixedly connected by applying adhesive.

[0090] like Figure 2 As shown, in some embodiments, the fixing module 100 further includes a fourth fixing member 164, which is used to fix the fixing bracket 110, the circuit board 150, and the base 200. By setting the fourth fixing member 164, both the fixing connection between the fixing bracket 110 and the circuit board 150 are achieved, and the fixing module 100 is also fixed to the base 200 as a whole. That is to say, the structure and function are reused, and it has both high support reliability and structural simplification. In other embodiments, the fixing bracket 110, the circuit board 150, and the base 200 can also be fixedly connected by applying glue.

[0091] like Figure 2 and Figure 6 As shown, in some embodiments, the fixing module 100 is disposed on the upper side of the base 200, and the base 200 is provided with a groove 200a. The recessed direction of the groove 200a is away from the fixing module 100, and the lower reflector assembly 140 is disposed in the groove 200a. By providing the groove 200a to accommodate the lower reflector assembly 140, the base 200 helps to reduce the reflection of stray light on the lower reflector assembly 140 and improves the reliability of ranging.

[0092] like Figure 8 As shown, in some embodiments, the base 200 has an opening 200b, and the portion of the fixing bracket 110 connected to the lower reflector assembly 140 passes through the opening 200b from the upper side of the base 200 to the lower side of the base 200. The base 200 avoids the lower reflector assembly 140 by providing the opening 200b, which has the advantages of simple structure and small size.

[0093] like Figure 8 As shown, in some embodiments, the lower reflector assembly 140 includes a lower reflector 141 and a lower reflector adjustment component 142. The lower reflector 141 is fixed on the lower reflector adjustment component 142, and the lower reflector adjustment component 142 is fixed on the fixed bracket 110. By setting the lower reflector adjustment component 142, it is convenient to adjust the position and angle of the lower reflector 141 during the debugging stage, and after the adjustment is completed, the lower reflector adjustment component 142 is fixed on the fixed bracket 110 by means of glue or other methods.

[0094] Other configurations and operations of the optical ranging device 1000 and the self-propelled robot 2000 according to embodiments of this application are known to those skilled in the art and will not be described in detail here.

[0095] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0096] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. An optical ranging device, characterized in that, include: The emitting assembly includes an emitting mirror group and a light emitter, the light emitter being used to emit an emitted light beam; The receiving component includes a receiving mirror group and a light receiver, the light receiver being used to receive a light beam reflected from an external object from the optical ranging device and received by the receiving mirror group; A base is provided, on which the receiving lens group is fixedly mounted; the base is provided with a groove, the recessed direction of which is away from the receiving lens group; a receiving cavity is defined between the groove and the receiving lens group, and the light receiver is disposed in the receiving cavity.

2. The optical ranging device according to claim 1, characterized in that, It also includes a circuit board, which includes a second circuit board portion on which the light receiver is disposed, and the second circuit board portion is disposed within the receiving cavity.

3. The optical ranging device according to claim 2, characterized in that, It also includes a fixing bracket, which is fixedly mounted on the base; The fixed bracket includes a lower extension bracket portion, the upper end of which is fixedly connected to the receiving lens assembly, and the lower end of which extends toward the groove. The groove, the receiving lens assembly, and the lower extension bracket portion define the receiving cavity.

4. The optical ranging device according to claim 3, characterized in that, The lower end of the lower extension bracket extends into the groove.

5. The optical ranging device according to claim 3, characterized in that, The circuit board also includes a first circuit board portion, which is disposed on the outside of the lower extension bracket portion; The lower extension bracket portion has a notch, and the connection portion between the first circuit board portion and the second circuit board portion passes through the notch.

6. The optical ranging device according to claim 5, characterized in that, The lower extension support portion forms a first extension column unit, the first extension column unit is a C-shaped ring structure with the notch, the C-shaped opening of the first extension column unit forms the notch, and the upper end of the first extension column unit is fixedly connected to the receiving lens group. or, The lower extension support includes a plurality of second extension column units, which are circumferentially spaced around the second circuit board. The upper end of each second extension column unit is fixedly connected to the receiving lens assembly, and the gap between two second extension column units is formed as the notch.

7. The optical ranging device according to claim 2, characterized in that, The receiving mirror assembly is provided with a light emitting aperture, which is part of the receiving cavity; the light emitting aperture is used to allow the emitted light beam emitted by the light emitter to pass through, and the receiving mirror assembly is disposed inside the light emitting aperture or outside the side of the light emitting aperture away from the light emitter.

8. The optical ranging device according to claim 7, characterized in that, The second circuit board portion is partially disposed within the light emitting aperture, or completely disposed within the light emitting aperture, or completely disposed outside the light emitting aperture and disposed within the receiving cavity; the light emitter is disposed on the side of the second circuit board portion near the emitting mirror group, and the light receiver is disposed on the side of the second circuit board portion away from the emitting mirror group; The optical ranging device further includes a lower reflector assembly, which is used to reflect the received light beam after passing through the receiving lens group to the optical receiver; the lower reflector assembly is disposed in the receiving cavity, or the groove is formed as the lower reflector assembly.

9. The optical ranging device according to claim 7, characterized in that, The circuit board also includes a first circuit board portion, which is disposed radially outside the receiving mirror assembly; The receiving mirror assembly is provided with a circuit board clearance groove, which extends radially along the receiving mirror assembly and communicates with the light emitting aperture. The connection between the first circuit board portion and the second circuit board portion passes through the circuit board clearance groove.

10. The optical ranging device according to claim 5 or 9, characterized in that, The first circuit board portion is fitted onto the second circuit board portion, and a connecting portion and a clearance portion are provided between the first circuit board portion and the second circuit board portion. The clearance portion is used to allow the received light beam after passing through the receiving lens group to pass through.

11. The optical ranging device according to claim 1, characterized in that, It also includes a lower reflector assembly, which is used to reflect the received light beam after passing through the receiving mirror group to the light receiver; the lower reflector assembly is disposed in the groove, or the groove is formed as the lower reflector assembly.

12. The optical ranging device according to claim 11, characterized in that, Along the axial direction of the receiving mirror group, the lower reflector assembly is spaced apart from the receiving mirror group and the light receiver, respectively. The reflective surface of the lower reflector assembly is opposite to the receiving mirror group and opposite to the light receiver.

13. The optical ranging device according to claim 11, characterized in that, It also includes a fixing bracket, which is fixedly mounted on the base; The fixed bracket includes a lower extension bracket portion, the upper end of which is fixedly connected to the receiving lens group, and the lower end of which is fixedly connected to the lower reflector assembly.

14. The optical ranging device according to claim 1, characterized in that, Along the axial direction of the transmitting mirror group, the transmitting mirror group, the light emitter, and the light receiver are arranged sequentially; And / or, the axis of the transmitting mirror group is parallel to or coaxial with the axis of the receiving mirror group.

15. The optical ranging device according to claim 1, characterized in that, It also includes a base and an upper reflector assembly, the upper reflector assembly being rotatably mounted on the base. The upper reflector assembly is used to reflect the emitted light beam from the light emitter to the external area of ​​the optical ranging device. The rotation axis of the upper reflector assembly, the axis of the emitting mirror group, and the axis of the receiving mirror group are coaxial.

16. A self-propelled robot, characterized in that, It includes the robot body and the optical ranging device as described in any one of claims 1-15.

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