Optical distance measuring device and mobile robot

Abstract

The utility model discloses an optical distance measuring device and a mobile robot, the optical distance measuring device comprises a shell assembly, a driving module and a scanning distance measuring module, the shell assembly comprises a base and a rotating middle shell, the base is provided with a first mounting plate part and a second mounting concave part, the second mounting concave part encloses a containing cavity, and the first mounting plate part and the second mounting concave part are arranged along the height direction of the shell assembly. The inner bottom wall of the second mounting concave part is lower than the first mounting plate part; the driving module comprises a power piece, the power piece is arranged on the first mounting plate part and located on the face, away from the rotating middle shell, of the base, the output end of the power piece penetrates through the first mounting plate part so as to be in transmission connection with the rotating middle shell, and the scanning distance measuring module is arranged in the containing cavity. And in the height direction of the shell assembly, at least part of the scanning distance measurement module is lower than the first mounting plate part. According to the optical distance measuring device and the mobile robot, the overall height size of the optical distance measuring device can be reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to optical ranging technical field especially, relate to an optical ranging device and mobile robot. BACKGROUND

[0002] In the related art, the overall height size of the optical ranging device is large, especially when the transmitting light path and the receiving light path have a part extending along the vertical direction, it is difficult to miniaturize, which limits its application scenarios. SUMMARY

[0003] The utility model discloses at least one of the technical problems existing in the prior art is solved. To this end, the utility model provides an optical ranging device and mobile robot, which can reduce the overall height size.

[0004] The utility model discloses an optical ranging device, comprising:

[0005] The shell assembly comprises a base and a rotating middle shell, the rotating middle shell is arranged on the base and can rotate relative to the base, the base has a first mounting plate part and a second mounting recess part, the second mounting recess part surrounds a containing cavity, and the inner bottom wall of the second mounting recess part is lower than the first mounting plate part along the height direction of the shell assembly.

[0006] The drive module comprises a power member, the power member is arranged on the first mounting plate part and located on the side of the base away from the rotating middle shell, and the output end of the power member penetrates through the first mounting plate part to drive the rotating middle shell.

[0007] The scanning ranging module is arranged in the containing cavity and at least partially lower than the first mounting plate part along the height direction of the shell assembly, wherein the scanning ranging module comprises a transmitting lens, a receiving lens and an upper mirror, the transmitting lens and the receiving lens are coaxially arranged, and the upper mirror is arranged on the rotating middle shell.

[0008] The optical ranging device according to the utility model embodiment has at least the following beneficial effects: the power member is arranged on the first mounting plate part and located on the side of the base away from the rotating middle shell. The scanning ranging module is arranged in the containing cavity and at least partially lower than the first mounting plate part, so that at least part of the scanning ranging module coincides with the power member in the height direction of the shell assembly, and the overall height size of the optical ranging device is reduced.

[0009] According to some embodiments of the present application, the scanning distance measurement module comprises a first circuit board, a transmitter, a second circuit board and a receiver, the transmitter is arranged on the first circuit board, and the receiver is arranged on the second circuit board; the first circuit board is arranged in the accommodating cavity, the second circuit board is arranged outside the accommodating cavity, and along the height direction of the shell assembly, the first circuit board and the second circuit board are both lower than the first mounting plate part; or, the first circuit board and the second circuit board are both arranged in the accommodating cavity, and along the height direction of the shell assembly, the first circuit board and the second circuit board are both lower than the first mounting plate part.

[0010] Or, the scanning distance measurement module comprises a first circuit board, a transmitter and a receiver, the transmitter is arranged on the first surface of the first circuit board, and the receiver is arranged on the second surface of the first circuit board, and the first surface and the second surface are opposite along the thickness direction of the first circuit board.

[0011] Among them, the first circuit board is arranged in the accommodating cavity, and along the height direction of the shell assembly, the first circuit board is lower than the first mounting plate part.

[0012] According to some embodiments of the present application, it further comprises a coding module, and the coding module comprises a coding disc and a detection unit.

[0013] The driving module comprises a driving pulley, a driven pulley and a transmission belt, the driving pulley and the driven pulley are transmissionally connected through the transmission belt; the driving pulley is arranged on the output end of the power member, the driven pulley is arranged on the rotating middle shell, and the coding disc is arranged on the lower end part of the driven pulley.

[0014] The detection unit is arranged on the side of the first circuit board facing the rotating middle shell, and the projection of the coding disc along the height direction of the shell assembly at least partially overlaps with the projection of the detection unit along the height direction of the shell assembly.

[0015] Along the height direction of the shell assembly, at least part of the coding disc is lower than the first mounting plate part.

[0016] According to some embodiments of the present application, the inner bottom wall of the second mounting recess is provided with three protruding bolt hole columns, and the bolt hole columns are used for supporting and fixing the first circuit board.

[0017] According to some embodiments of the present application, there is a gap between the first circuit board and the inner bottom wall of the second mounting recess.

[0018] The optical distance measuring device further comprises a terminal seat arranged on the first circuit board and located at a spacing between the first circuit board and an inner bottom wall of the second mounting recess, and the second mounting recess is provided with an opening communicating with the accommodating cavity, and the opening is used for passing external wires to electrically connect the terminal seat.

[0019] According to some embodiments of the present application, the inner bottom wall of the second mounting recess is provided with a plurality of protruding bolt hole columns for supporting and fixing the first circuit board.

[0020] The transmitter is arranged at the middle part of the first circuit board, and the spacing size between the center line of at least one of the plurality of bolt hole columns and the center line of the transmitter and the thickness size of the first circuit board are not more than 10:1.

[0021] According to some embodiments of the present application, the rotating middle shell and the base are rotatably connected through a bearing, and the projection of at least one of the plurality of bolt hole columns along the height direction of the shell assembly at least partially overlaps the projection of the bearing along the height direction of the shell assembly, or the projection of at least one of the plurality of bolt hole columns along the height direction of the shell assembly is located within the projection of the bearing along the height direction of the shell assembly.

[0022] According to some embodiments of the present application, the driving module comprises a driving pulley, a driven pulley and a transmission belt, and the driving pulley and the driven pulley are drivingly connected through the transmission belt; the driving pulley is arranged on the output end of the power member, and the driven pulley is arranged on the rotating middle shell, and the projection of at least one of the plurality of bolt hole columns along the height direction of the shell assembly is located within the projection of the driven pulley along the height direction of the shell assembly.

[0023] According to some embodiments of the present application, at least part of the receiving lens is lower than the first mounting plate part along the height direction of the shell assembly.

[0024] According to some embodiments of the present application, the scanning distance measuring module comprises a transmitting barrel, the receiving lens has a through hole, the transmitting barrel is arranged in the through hole and is used for mounting the transmitting lens, and the transmitting barrel is at least partially lower than the first mounting plate part along the height direction of the shell assembly.

[0025] According to some embodiments of the present application, the scanning distance measuring module comprises a lower reflector.

[0026] The receiving lens has a light inlet side and a light outlet side, and the lower reflector is arranged on the light outlet side of the receiving lens to reflect the light beam passing through the receiving lens to the receiver.

[0027] The second mounting recess includes a first recess recessed downward from the first mounting plate portion and a second recess recessed downward from a bottom plate of the first recess, and a bottom plate of the second recess is higher than a bottom surface of the power member;

[0028] Part of the receiving lens is located in the first recess, and the lower mirror is located in the second recess.

[0029] According to some embodiments of the present application, the scanning distance measuring module includes a transmitting cylinder, the receiving lens has a through hole, and the transmitting cylinder is arranged in the through hole and used for mounting the transmitting lens; part of the transmitting cylinder is located in the first recess.

[0030] According to some embodiments of the present application, one end of the receiving lens towards the light emitting side is connected with a protruding skirt portion, the lower mirror is mounted on the skirt portion, and part of the skirt portion is located in the second recess.

[0031] According to a mobile robot of the second aspect embodiment of the present application, the mobile robot comprises the optical distance measuring device in the above embodiments.

[0032] Additional aspects and advantages of the present application will be given in part in the following description, will become apparent from the following description, or will be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0033] The present application will be further described below in combination with the drawings and embodiments, in which:

[0034] Figure 1 It is a sectional view of the optical distance measuring device of the embodiment of the present application;

[0035] Figure 2 It is a structural schematic view of the base of the optical distance measuring device of the embodiment of the present application.

[0036] REFERENCE NUMERALS:

[0037] 11, base; 111, first mounting plate portion; 112, second mounting recess; 112a, accommodating cavity; 1121, bolt hole column; 112b, opening; 1122, first recess; 1123, second recess; 1124, annular protrusion; 12, rotating middle shell;

[0038] 20, driving module; 21, power member; 22, driving pulley; 23, driven pulley; 24, transmission belt;

[0039] 30, scanning distance measuring module; 31, transmitting lens; 32, receiving lens; 321, skirt; 33, upper mirror; 34, first circuit board; 35, transmitter; 36, second circuit board; 37, receiver; 38, transmitting cylinder; 39, lower mirror;

[0040] 40, encoding module; 41, encoding disc; 42, detection unit;

[0041] 50, terminal block;

[0042] 60, bearing. DETAILED DESCRIPTION

[0043] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are used only for explaining the present application, and cannot be understood as a limitation of the present application.

[0044] In the description of the present application, it is understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as a limitation of the present application.

[0045] In the description of the present application, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described as first, second, it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of indicated technical features.

[0046] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and the skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0047] In the description of the utility model, the description of the reference terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0048] In the related art, the optical distance measuring device comprises a shell assembly, a scanning distance measuring module and a driving module, the shell assembly comprises a base and a rotating middle shell, the rotating middle shell is arranged on the base and can rotate relative to the base. The scanning distance measuring module comprises an optical transceiver module and an upper mirror, the optical transceiver module comprises a coaxially arranged transmitting lens and a receiving lens, the transmitting lens is used for collimating the emitted light beam, the receiving lens is used for receiving the light beam reflected by the external object and focusing, and the upper mirror is used for adjusting the emission angle of the light beam passing through the transmitting lens. The driving module is used for driving the rotating middle shell, and at least the upper mirror in the scanning distance measuring module is arranged on the rotating middle shell and rotates with the rotating middle shell.

[0049] Among them, the height dimension of the optical distance measuring device comprises the height dimension of the upper mirror, the height dimension of the rotating middle shell, the height dimension of the transceiver module, the height dimension of the base and the height dimension of the motor in turn, the overall height dimension is relatively large, which is not conducive to the miniaturization of the optical distance measuring device.

[0050] For this purpose, please refer to Figure 1 and Figure 2 The utility model discloses an optical distance measuring device, comprising a shell assembly, a driving module 20 and a scanning distance measuring module 30.

[0051] The shell assembly is the shell of the optical distance measuring device, mainly plays the role of containing relevant parts, providing the structure for the optical distance measuring device to be connected with the terminal equipment such as mobile robot outside, and sealing protection.

[0052] The shell assembly comprises a base 11 and a rotating middle shell 12, and the rotating middle shell 12 is arranged on the base 11 and can rotate relative to the base 11.

[0053] The base 11 has a first mounting plate part 111 and a second mounting concave part 112, the second mounting concave part 112 surrounds the containing cavity 112a, along the height direction of the shell assembly, the inner bottom wall of the second mounting concave part 112 is lower than the first mounting plate part 111, wherein the inner bottom wall of the second mounting concave part 112 is the bottom wall of the containing cavity 112a.

[0054] The driving module 20 comprises a power element 21, which can be a motor. The power element 21 is arranged on the first mounting plate portion 111 and located on the side of the base 11 away from the rotating middle shell 12. In the embodiment shown in the drawings, the rotating middle shell 12 is located on the base 11, and the power element 21 is located below the base 11. The output end of the power element 21 penetrates through the first mounting plate portion 111 to drive the rotating middle shell 12. In this embodiment, the output end of the power element 21 and the rotating middle shell 12 are connected by a transmission belt 24. Figure 1

[0055] The scanning and ranging module 30 comprises a transmitting lens 31, a receiving lens 32, and an upper mirror 33. The transmitting lens 31 can collimate the light beam emitted by the transmitter 35. The receiving lens 32 is used to focus the light beam reflected by the external object.

[0056] The upper mirror 33 is arranged on the rotating middle shell 12 and located above the transmitting lens 31 and the receiving lens 32 along the height direction of the shell assembly. The upper mirror 33 can adjust the emission angle of the collimated light beam, and cooperate with the rotation of the rotating middle shell 12 to make the collimated light beam irradiate within a preset angle range, which can be 360° or less than 360°. In this embodiment, the height direction of the shell assembly is the height direction of the optical ranging device. Figure 1 The transmitting lens 31 and the receiving lens 32 are coaxially arranged to minimize the detection blind area.

[0057] The scanning and ranging module 30 is arranged in the accommodating cavity 112a and at least partially below the first mounting plate portion 111 along the height direction of the shell assembly. It can be understood that, since the power element 21 is arranged on the first mounting plate portion 111 and located on the side of the base 11 away from the rotating middle shell 12, the scanning and ranging module 30 is arranged in the accommodating cavity 112a and at least partially below the first mounting plate portion 111, so that at least part of the scanning and ranging module 30 coincides with the power element 21 along the height direction of the shell assembly, which reduces the overall height of the optical ranging device and expands its application scenarios.

[0058] ​In some embodiments, the scanning distance measurement module 30 further comprises a first circuit board 34, a transmitter 35, a second circuit board 36 and a receiver 37. The transmitter 35 is configured to emit a light beam outwardly. The receiver 37 is configured to receive a focused light beam reflected by an external object. The first circuit board 34 and the second circuit board 36 can be integrally formed or separately formed and connected by a flexible circuit board or a wire. When the first circuit board 34 and the second circuit board 36 are integrally formed, the second circuit board 36 can be annular and spaced around the radial outer side of the first circuit board 34. When the first circuit board 34 and the second circuit board 36 are separately formed and connected by a flexible circuit board or a wire, the second circuit board 36 and the first circuit board 34 can be disposed at different heights as needed.

[0059] The transmitter 35 is disposed on the first circuit board 34, and the receiver 37 is disposed on the second circuit board 36.

[0060] In some embodiments, the first circuit board 34 is disposed in the receiving cavity 112a, and the second circuit board 36 is disposed outside the receiving cavity 112a. In the height direction of the housing assembly, the first circuit board 34 and the second circuit board 36 are both lower than the first mounting plate portion 111. It can be understood that being lower than the first mounting plate portion 111 allows the first circuit board 34 and the second circuit board 36 to coincide with the power member 21 in the height direction of the housing assembly, so that the first circuit board 34 and the second circuit board 36 do not additionally occupy the size in the height direction.

[0061] In other embodiments, the first circuit board 34 and the second circuit board 36 are both disposed in the receiving cavity 112a. In the height direction of the housing assembly, the first circuit board 34 and the second circuit board 36 are both lower than the first mounting plate portion 111, i.e., the first circuit board 34 and the second circuit board 36 also coincide with the power member 21 in the height direction of the housing assembly, so that the first circuit board 34 and the second circuit board 36 do not additionally occupy the size in the height direction.

[0062] In some embodiments, the scanning distance measurement module 30 comprises the first circuit board 34, the transmitter 35 and the receiver 37. The transmitter 35 is disposed on the first face of the first circuit board 34, and the receiver 37 is disposed on the second face of the first circuit board 34. The first face and the second face are opposite in the thickness direction of the first circuit board 34. In some embodiments, the first circuit board 34 is disposed in the receiving cavity 112a, and in the height direction of the housing assembly, the first circuit board 34 is lower than the first mounting plate portion 111. Similarly, this arrangement can also avoid the first circuit board 34 from additionally occupying the size in the height direction.

[0063] In some embodiments, the optical distance measuring device further comprises an encoding module 40, which comprises an encoding disc 41 and a detection unit 42. The encoding disc 41 is provided with encoding units arranged at intervals in the circumferential direction, and the detection unit 42 determines the rotational position or rotational speed of the scanning distance measuring module 30 by identifying the different signals corresponding to the encoding units and the intervals between adjacent encoding units.

[0064] The driving module 20 comprises a driving pulley 22, a driven pulley 23 and a transmission belt 24, the driving pulley 22 and the driven pulley 23 are drivingly connected through the transmission belt 24, the driving pulley 22 is arranged on the output end of the power member 21, and the driven pulley 23 is arranged on the rotating middle shell 12 to rotate with the rotating middle shell 12. The encoding disc 41 is arranged at the lower end of the driven pulley 23 to rotate with the driven pulley 23. The driven pulley 23 can be integrally formed with the rotating middle shell 12 to reduce the assembly steps, or can be separately connected with the rotating middle shell 12 so that the two can be individually repaired and replaced. Similarly, the encoding disc 41 can be separately formed with the driven pulley 23 and arranged on the driven pulley 23, or can be integrally formed with the driven pulley 23.

[0065] The detection unit 42 is arranged on the side of the first circuit board 34 facing the rotating middle shell 12, and the projection of the encoding disc 41 along the height direction of the housing assembly at least partially overlaps the projection of the detection unit 42 along the height direction of the housing assembly, so that the detection unit 42 and the encoding units of the encoding disc 41 are arranged in the height direction of the housing assembly, so that the detection unit 42 can identify the encoding units of the encoding disc 41 and the intervals between adjacent encoding units.

[0066] At least part of the encoding disc 41 is lower than the first mounting plate portion 111 in the height direction of the housing assembly. It can be understood that, since the detection unit 42 needs to be arranged in the height direction of the housing assembly with the encoding units of the encoding disc 41, this reduces the radial dimension of the optical distance measuring device, but increases the vertical dimension of the optical distance measuring device, i.e. increases the dimension in the height direction of the housing assembly. At this time, the at least part of the encoding disc 41 is arranged lower than the first mounting plate portion 111, which can avoid the increase of the vertical dimension of the optical distance measuring device, and the at least part of the encoding disc 41 coincides with the power member 21 in the height direction of the housing assembly, reducing or avoiding the space occupied by the encoding disc 41 in the height direction.

[0067] It can be understood that the arrangement of the first circuit board 34 is not limited.

[0068] In some embodiments, the inner bottom wall of the second mounting recess 112 is provided with a plurality of protruding bolt hole columns 1121 for supporting and fixing the first circuit board 34. The bolt hole column 1121 is a column structure with a bolt hole. When only the first circuit board 34 is provided, the first circuit board 34 is supported on the bolt hole column 1121. The fastening of the first circuit board 34 is achieved by screwing a fastener into the bolt hole. When the first circuit board 34 and the second circuit board 36 are provided and integrally formed, the second circuit board 36 is supported on the bolt hole column 1121, and the fastening of the second circuit board 36 is achieved by screwing a fastener into the bolt hole, which also simultaneously achieves the support and fixation of the first circuit board 34.

[0069] The number of bolt hole columns 1121 is not limited. In some embodiments, the inner bottom wall of the second mounting recess 112 is provided with three protruding bolt hole columns 1121. Compared with a smaller number of bolt hole columns 1121 (for example, two), the warping of the first circuit board 34 and / or the second circuit board 36 can be reduced during the mounting process, especially the deformation of the part of the first circuit board 34 and / or the second circuit board 36 away from the bolt hole column 1121. Compared with a larger number of bolt hole columns 1121 (for example, four), since three points determine a plane, four points or more will cause over-constraint. Therefore, the mounting flatness requirement of the first circuit board 34 and / or the second circuit board 36 can be met with lower precision.

[0070] In some embodiments, the first circuit board 34 and the inner bottom wall of the second mounting recess 112 have a spacing therebetween. It can be understood that the spacing can be caused by the bolt hole column 1121 between the first circuit board 34 and the second mounting recess 112.

[0071] The optical distance measuring device further comprises a terminal block 50 provided on the first circuit board 34 and located at the spacing between the first circuit board 34 and the inner bottom wall of the second mounting recess 112. The second mounting recess 112 is provided with an opening 112b in communication with the accommodating cavity 112a, and the opening 112b is used for the external lead wire to pass through to electrically connect the terminal block 50. In this way, the above-mentioned spacing space can be fully utilized, and the structure of the optical distance measuring device is more compact.

[0072] The terminal block 50 can be the terminal block 50 of the power member 21, or the terminal block 50 can be connected with an external power source / signal source. Alternatively, the terminal block 50 is provided with a plurality of terminal blocks, one of which is the terminal block 50 of the power member 21, and the other of which is the terminal block 50 connected with the external power source / signal source.

[0073] It can be understood that the transmitter 35 is arranged on the first circuit board 34, and the receiving lens is coaxially arranged with the transmitting lens 31. If the first circuit board 34 is deformed, the transmitting accuracy and receiving accuracy of the optical distance measuring device will be affected. When the receiver is also arranged on the first circuit board 34 or the receiving lens is also arranged on the first circuit board 34, the above-mentioned influence will be more obvious.

[0074] To this end, in some embodiments, the transmitter 35 is arranged at the middle of the first circuit board 34, and the ratio of the spacing size between the center line of at least one bolt hole column 1121 and the center line of the transmitter 35 to the thickness size of the first circuit board 34 is not more than 10:1.

[0075] It can be understood that if the positions of the plurality of bolt hole columns 1121 are all away from the transmitter 35, the first circuit board 34 at the mounting position of the transmitter 35 will be more prone to deformation. In order to alleviate or prevent this situation, the ratio of the spacing size between the center line of at least one bolt hole column 1121 and the center line of the transmitter 35 to the thickness size of the first circuit board 34 is not more than 10:1, so that the part of the first circuit board 34 close to the transmitter 35 is supported by at least one bolt hole column 1121, reducing the possibility of deformation of the part of the first circuit board 34 where the transmitter 35 is arranged.

[0076] In order to further limit the positions of the bolt hole columns 1121, in some embodiments, the rotating middle shell 12 is rotatably connected with the base 11 through the bearing 60, and the projection of at least one bolt hole column 1121 in the height direction of the housing assembly at least partially overlaps the projection of the bearing 60 in the height direction of the housing assembly. In other embodiments, the projection of at least one bolt hole column 1121 in the height direction of the housing assembly is located within the projection of the bearing 60 in the height direction of the housing assembly. In this way, the part of the first circuit board 34 close to the transmitter 35 can be supported by at least one bolt hole column 1121, reducing the possibility of deformation of the part of the first circuit board 34 where the transmitter 35 is arranged.

[0077] In some embodiments, the drive module 20 includes a driving pulley 22, a driven pulley 23 and a transmission belt 24, the driving pulley 22 is arranged on the output end of the power member 21, the driven pulley 23 is arranged on the rotating middle shell 12, and the projection of at least one bolt hole column 1121 in the height direction of the housing assembly is located within the projection of the driven pulley 23. In this way, the part of the first circuit board 34 close to the transmitter 35 can be supported by at least one bolt hole column 1121, reducing the possibility of deformation of the part of the first circuit board 34 where the transmitter 35 is arranged.

[0078] In order to further reduce or avoid the increase of the vertical size of the optical distance measuring device,

[0079] In some embodiments, at least part of the receiving lens 32 is lower than the first mounting plate portion 111 in the height direction of the housing assembly. Thus, at least part of the receiving lens 32 coincides with the power element 21 in the height direction of the housing assembly, reducing or avoiding the space occupied by the receiving lens 32 in the height direction.

[0080] In some embodiments, the scanning distance measuring module 30 comprises a transmitting cylinder 38, and the receiving lens 32 has a through hole, and the transmitting cylinder 38 is arranged in the through hole and used for mounting the transmitting lens 31. The transmitting cylinder 38 has a channel inside for allowing light beams to exit, and the transmitting lens 31 is arranged in the channel of the transmitting cylinder 38. The transmitting cylinder 38 can be mounted on the receiving lens or the first circuit board 34. At least part of the transmitting cylinder 38 is lower than the first mounting plate portion 111 in the height direction of the housing assembly, so that at least part of the transmitting cylinder 38 coincides with the power element 21 in the height direction of the housing assembly, thereby reducing or avoiding the space occupied by the transmitting cylinder 38 in the height direction.

[0081] In some embodiments, the scanning distance measuring module 30 comprises a lower mirror 39. The receiving lens 32 has an incident side and an exit side, and the light beams emitted by external objects enter the receiving lens 32 from the incident side and exit from the exit side. The lower mirror 39 is arranged on the exit side of the receiving lens 32 to reflect the focused light beams exiting from the exit side of the receiving lens 32 onto the receiver 37.

[0082] The second mounting recess 112 can comprise a first recess 1122. The lower mirror 39 is arranged in the first recess 1122.

[0083] Further, in order to reduce the volume of the housing assembly, in some embodiments, the second mounting recess 112 comprises a first recess 1122 formed by recessing downward from the first mounting plate portion 111, and a second recess 1123 formed by recessing downward from the bottom plate of the first recess 1122, part of the receiving lens 32 is arranged in the first recess 1122, and the lower mirror 39 is arranged in the second recess 1123. The second recess 1123 can be located in the middle region of the first recess 1122. By recessing the second recess 1123 downward from the first recess 1122, the low-positioned component, i.e. the lower mirror 39, is arranged at the second recess 1123, which avoids the arrangement of the above-mentioned component increasing the depth of the entire second mounting recess 112, thereby reducing the volume of the housing assembly.

[0084] The bottom plate of the second recess 1123 is higher than the bottom surface of the power element 21. That is, the arrangement of the second recess 1123 does not increase the vertical dimension of the scanning distance measuring module 30.

[0085] Further, in some embodiments, the scanning distance measurement module 30 includes a launching barrel 38, a portion of the launching barrel 38 being located in the first recess 1122.

[0086] Further, in some embodiments, the receiving lens 32 has a convex skirt 321 connected to an end of the receiving lens 32 facing the light exit side, the lower reflector 39 being mounted on the skirt 321, a portion of the skirt 321 being located in the second recess 1123.

[0087] The inner ring side of the first recess 1122 has a convex annular protrusion 1124, a hook structure being formed on the annular protrusion 1124, and the bearing 60 is arranged at the hook structure.

[0088] The embodiments of the present application also provide a mobile robot including the optical distance measurement device. The mobile robot measures the distance of an external object through the optical distance measurement device, thereby achieving obstacle avoidance. The mobile robot can be a cleaning robot having a sweeping and mopping function, a service robot having a meal delivery and object delivery function, a mowing robot having a mowing function, a carrying robot used for carrying goods in a warehouse or factory, etc.

[0089] The embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the above-described embodiments, and various changes can be made within the scope of knowledge of those skilled in the art without departing from the spirit of the present application. Furthermore, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. An optical distance measuring device, characterized in that The application relates to an optical ranging device. The optical ranging device comprises a housing assembly, a driving module and a scanning and ranging module. The housing assembly comprises a base and a rotating middle shell, the rotating middle shell is arranged on the base and can rotate relative to the base, the base has a first mounting plate part and a second mounting recess, the second mounting recess surrounds a containing cavity, and the inner bottom wall of the second mounting recess is lower than the first mounting plate part in the height direction of the housing assembly. The driving module comprises a power member, the power member is arranged on the first mounting plate part and located on the side of the base away from the rotating middle shell, and the output end of the power member penetrates through the first mounting plate part to drive the rotating middle shell. The scanning and ranging module is arranged in the containing cavity and at least partially lower than the first mounting plate part in the height direction of the housing assembly, wherein the scanning and ranging module comprises a transmitting lens, a receiving lens and an upper reflector, the transmitting lens and the receiving lens are coaxially arranged, and the upper reflector is arranged on the rotating middle shell. The upper reflector is located above the transmitting lens and the receiving lens in the height direction of the housing assembly.

2. The optical ranging device according to claim 1, wherein the scanning and ranging module comprises a first circuit board, a transmitter, a second circuit board and a receiver, the transmitter is arranged on the first circuit board, the receiver is arranged on the second circuit board, the first circuit board is arranged in the containing cavity, the second circuit board is arranged outside the containing cavity, and the first circuit board and the second circuit board are both lower than the first mounting plate part in the height direction of the housing assembly; or the first circuit board and the second circuit board are both arranged in the containing cavity and both lower than the first mounting plate part in the height direction of the housing assembly. Or, the scanning and ranging module comprises a first circuit board, a transmitter and a receiver, the transmitter is arranged on the first face of the first circuit board, the receiver is arranged on the second face of the first circuit board, the first face and the second face are opposite in the thickness direction of the first circuit board, the first circuit board is arranged in the containing cavity, and the first circuit board is lower than the first mounting plate part in the height direction of the housing assembly.

3. The optical distance measuring device according to claim 2, characterized in that The optical ranging device further comprises a coding module, the coding module comprises a coding disc and a detection unit. The driving module comprises a driving pulley, a driven pulley and a transmission belt, the driving pulley and the driven pulley are drivingly connected through the transmission belt, the driving pulley is arranged on the output end of the power member, the driven pulley is arranged on the rotating middle shell, and the coding disc is arranged on the lower end of the driven pulley. The detection unit is arranged on the side of the first circuit board facing the rotating middle shell, and the projection of the coding disc in the height direction of the housing assembly at least partially overlaps the projection of the detection unit in the height direction of the housing assembly. At least part of the coding disc is lower than the first mounting plate part in the height direction of the housing assembly.

4. The optical distance measuring device according to claim 2, characterized in that The inner bottom wall of the second mounting recess is provided with three protruding bolt hole columns for supporting and fixing the first circuit board.

5. The optical distance measuring device according to claim 2, characterized in that The first circuit board is spaced apart from the inner bottom wall of the second mounting recess; The optical distance measuring device further comprises a terminal seat provided on the first circuit board and located at the spacing between the first circuit board and the inner bottom wall of the second mounting recess, the second mounting recess is provided with an opening communicating with the accommodating cavity, and the opening is used for passing external wires to electrically connect the terminal seat.

6. The optical distance measuring device according to claim 2, characterized in that The inner bottom wall of the second mounting recess is provided with a plurality of protruding bolt hole columns for supporting and fixing the first circuit board; The transmitter is arranged in the middle part of the first circuit board, and the ratio of the spacing size between the center line of at least one of the plurality of bolt hole columns and the center line of the transmitter to the thickness size of the first circuit board is not more than 10:1; And / or, The rotating middle shell is rotatably connected to the base through a bearing, and the projection of at least one of the plurality of bolt hole columns in the height direction of the shell assembly at least partially overlaps the projection of the bearing in the height direction of the shell assembly, or the projection of at least one of the plurality of bolt hole columns in the height direction of the shell assembly is located within the projection of the bearing in the height direction of the shell assembly; And / or, The driving module comprises a driving pulley, a driven pulley and a transmission belt, the driving pulley and the driven pulley are drivingly connected through the transmission belt, the driving pulley is arranged on the output end of the power member, and the driven pulley is arranged on the rotating middle shell, and the projection of at least one of the plurality of bolt hole columns in the height direction of the shell assembly is located within the projection of the driven pulley in the height direction of the shell assembly.

7. The optical distance measuring device according to claim 1, characterized in that In the height direction of the shell assembly, at least part of the receiving lens is lower than the first mounting plate part; And / or, The scanning distance measuring module comprises a transmitting barrel, the receiving lens has a through hole, the transmitting barrel is arranged in the through hole and is used for mounting the transmitting lens, and in the height direction of the shell assembly, at least part of the transmitting barrel is lower than the first mounting plate part.

8. The optical distance measuring device according to claim 1, characterized in that The scanning distance measuring module comprises a lower mirror; The receiving lens has a light inlet side and a light outlet side, and the lower mirror is arranged on the light outlet side of the receiving lens to reflect the light beam passing through the receiving lens to the receiver; The second mounting recess comprises a first recess formed by recessing downward from the first mounting plate part and a second recess formed by recessing downward from the bottom plate of the first recess, and the bottom plate of the second recess is higher than the bottom surface of the power member; Part of the receiving lens is located in the first recess, and the lower mirror is located in the second recess.

9. The optical distance measuring device according to claim 8, characterized in that The scanning distance measuring module comprises a transmitting barrel, the receiving lens has a through hole, the transmitting barrel is arranged in the through hole and is used for mounting the transmitting lens; part of the transmitting barrel is located in the first recess; And / or, the receiving lens is connected with a convex skirt towards one end of the light emitting side, the lower reflector is installed on the skirt, and part of the skirt is located in the second recess.

10. A mobile robot, characterized by The optical distance measuring device comprises the optical distance measuring device according to any one of claims 1-9.

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