Optical distance measuring device and mobile robot

Abstract

The utility model is applicable to the technical field of optical ranging, and provides an optical ranging device and a mobile robot, the optical ranging device comprises an optical machine module, a rotating mirror module and an upper cover, the optical machine module and the rotating mirror module are sequentially arranged along a first direction, and the rotating mirror module can rotate relative to a rotating axis. The upper cover comprises a first cover body and a second cover body which are connected with each other, the first cover body covers the light machine module, the second cover body covers the rotating mirror module, and at least part of the structure of the second cover body is a light-transmitting structure. The first cover body is provided with a first side wall in the second direction, and a first inclined surface is formed on the part of the first side wall close to the second cover body; in the direction from the first cover body to the direction close to the second cover body, the first inclined face gradually inclines towards the inner side of the first cover body, and the first inclined face is connected with the peripheral side face of the second cover body. Thus, the area of the peripheral side face of the second cover body is larger, the area, where the light-transmitting structure can be arranged, on the peripheral side face is larger, and therefore the light beam scanning range of the optical distance measuring device is enlarged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of optical ranging, and more particularly to an optical ranging device and a mobile robot. BACKGROUND

[0002] Laser radar is a device that can help mobile robots to scan and identify external obstacles. As a main type of laser radar, semi-solid laser radar mainly includes a laser transceiver module and a rotating mirror module. The laser transceiver module is used to emit a light beam to the rotating mirror module. The light beam emitted by the laser transceiver module is reflected to the outside world by rotating the rotating mirror module. When the light beam is emitted to an obstacle, the light beam is reflected back to the rotating mirror module by the external obstacle. Finally, the light beam reflected back from the external obstacle is reflected to the laser transceiver module by the rotating mirror module, so that the laser radar can identify the specific position of the external obstacle.

[0003] Generally, the outer side of the optical-mechanical module and the rotating mirror module is covered with a protective cover. The part of the protective cover covering the outer side of the rotating mirror module has a transparent side wall. When the rotating mirror module reflects the light beam to the outside world, the reflected light beam needs to pass through the transparent side wall to be emitted to the outside world. However, during the rotation of the rotating mirror module, the direction of the light beam reflected by the rotating mirror module to the outside world changes with the rotation angle of the rotating mirror module, so that part of the light beam is blocked by the protective cover covering the outer side of the optical-mechanical module and cannot be smoothly emitted to the outside world, resulting in a small scanning range of the laser radar. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the present application is to provide an optical ranging device and a mobile robot, which aims to solve the technical problem of a small scanning range of the laser radar in the prior art.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows: an optical ranging device is provided, which comprises an optical scanning assembly, the optical scanning assembly comprising an optical-mechanical module, a rotating mirror module and an upper cover.

[0006] The optical-mechanical module and the rotating mirror module are arranged in sequence along a first direction, and the rotating mirror module can rotate relative to the upper cover about a rotation axis, wherein the first direction is perpendicular to the rotation axis; the optical-mechanical module is used to emit a detection light beam to the rotating mirror module, and the rotating mirror module is used to reflect the detection light beam.

[0007] The upper cover comprises a first cover body and a second cover body connected to each other, the first cover body covers the outside of the optical-mechanical module, the second cover body covers the outside of the rotating mirror module, and at least part of the second cover body is arranged as a light-transmitting structure to allow the detection light beam reflected by the rotating mirror module to pass through to the outside world.

[0008] The first cover body has a first side wall in the second direction, a portion of the first side wall close to the second cover body is formed with a first inclined surface, the second direction is perpendicular to the rotation axis and the first direction; the first inclined surface gradually inclines to the inside of the first cover body in a direction from the first cover body to the side close to the second cover body, and the first inclined surface is connected with the circumferential surface of the second cover body.

[0009] In a possible design, the detection light beam has a first light beam scanning range after being reflected by the rotating mirror module, the first light beam scanning range and the first side wall are located on a first side of the rotation axis in the second direction; a first recessed area is formed between the first inclined surface and the circumferential surface of the second cover body, and at least part of the first recessed area is located in the first light beam scanning range.

[0010] In a possible design, at least part of the circumferential wall of the second cover body is a first light-transmitting part, the first light-transmitting part is located on the first side of the rotation axis in the second direction; the detection light beam in the first light beam scanning range is configured to be emitted to the outside after passing through the first light-transmitting part;

[0011] The first light-transmitting part includes a first opening formed on the circumferential wall of the second cover body and arranged in an open manner; or the first light-transmitting part includes a first opening formed on the circumferential wall of the second cover body and a first light-transmitting sheet arranged on the first opening and partially covering or completely sealing the first opening; or the circumferential wall of the second cover body is a light-transmitting structure as a whole, and a portion of the second cover body located on the first side of the rotation axis in the second direction is formed as the first light-transmitting part.

[0012] In a possible design, the first cover body has a second side wall in the second direction, and the detection light beam has a second light beam scanning range after being reflected by the rotating mirror module, the second light beam scanning range and the second side wall are located on a second side of the rotation axis in the second direction, wherein the first side of the second direction is opposite to the second side of the second direction;

[0013] The second side wall is formed with a second inclined surface close to one side of the second cover body, the second inclined surface gradually inclines to the inside of the first cover body in a direction from the first cover body to the side close to the second cover body, and the second inclined surface is connected with the circumferential surface of the second cover body; a second recessed area is formed between the second inclined surface and the circumferential surface of the second cover body, and at least part of the second recessed area is located in the second light beam scanning range.

[0014] In a possible design, a size of the first light beam scanning range is a first included angle, and a size of the second light beam scanning range is a second included angle.

[0015] The first included angle is greater than the second included angle, a depth of the first recessed area in the second direction is greater than a depth of the second recessed area in the second direction; or, the first included angle is equal to the second included angle, the depth of the first recessed area in the second direction is equal to the depth of the second recessed area in the second direction; or, the first included angle is less than the second included angle, the depth of the first recessed area in the second direction is less than the depth of the second recessed area in the second direction.

[0016] In a possible design, at least part of the circumferential side wall of the second cover body is a second light-transmitting portion, the second light-transmitting portion is located on a second side of the rotation axis in the second direction; and the detection light beam in the second light beam scanning range is configured to be emitted to the outside after passing through the second light-transmitting portion.

[0017] The second light-transmitting portion includes a second opening formed on the circumferential side wall of the second cover body, and the second opening is open; or, the second light-transmitting portion includes a second opening and a second light-transmitting sheet, the second opening is formed on the circumferential side wall of the second cover body, and the second light-transmitting sheet is arranged on the second opening and partially covers or completely seals the second opening; or, the circumferential side wall of the second cover body is entirely a light-transmitting structure, and a portion of the second cover body located on the second side of the rotation axis in the second direction is formed as the second light-transmitting portion.

[0018] In a possible design, the first cover body includes a first top wall and a first circumferential side wall, the first circumferential side wall surrounds the light engine module outside at least part of an outer contour of the light engine module, and the first top wall covers one side of the light engine module in the extension direction of the rotation axis and is connected to the first circumferential side wall; and / or,

[0019] The second cover body includes a second top wall and a second circumferential side wall, the second circumferential side wall surrounds the rotating mirror module outside at least part of an outer contour of a region passed by the rotating mirror module during rotation, and the second top wall covers one side of the rotating mirror module in the extension direction of the rotation axis and is connected to the second circumferential side wall; and / or,

[0020] The first cover body and the second cover body are integrally formed or connected in a split manner.

[0021] In a possible design, the optical scanning assembly further includes a base, and the light engine module and the rotating mirror module are both mounted on the base.

[0022] The upper cover further comprises a cover body, at least one of the first cover body and the second cover body is connected with the cover body; a projection of the cover body covers a part of the base which is not covered by a projection of the first cover body and a projection of the second cover body along an extension direction of the rotation axis.

[0023] In a possible design, one side of the rotating mirror module is formed with a reflecting surface along a direction perpendicular to the rotation axis, and the reflecting surface coincides with the rotation axis; or, opposite two sides of the rotating mirror module are both formed with reflecting surfaces along a direction perpendicular to the rotation axis.

[0024] And / or, an axis of a detection light beam emitted by the optical mechanism module to the rotating mirror module intersects and / or is perpendicular to the rotation axis.

[0025] In a possible design, the optical distance measuring device further comprises a lifting driving mechanism, the lifting driving mechanism is connected with the optical scanning assembly, and the lifting driving mechanism is configured to drive the optical scanning assembly to move along an extension direction of the rotation axis.

[0026] The present application further provides a mobile robot comprising the optical distance measuring device provided in any of the technical solutions.

[0027] The optical distance measuring device provided in the present application has the following beneficial effects: compared with the prior art, the first side wall of the first cover body in the second direction is formed with a first inclined surface close to one side of the second cover body, and the first inclined surface gradually inclines to the inner side of the first cover body in a direction from the first cover body to the second cover body, so that the area of the peripheral side surface of the second cover body is larger, and the area of the peripheral side surface on which the light-transmitting structure can be arranged is larger. When the area of the peripheral side surface of the second cover body which is connected with the first inclined surface is arranged as the light-transmitting structure, the rotating mirror module can reflect more detection light beams to the outside, thereby increasing the scanning range of the detection light beams emitted by the optical distance measuring device to the outside.

[0028] The mobile robot provided in the present application has the following beneficial effects: compared with the prior art, since the mobile robot comprises the optical distance measuring device provided in any of the technical solutions, the mobile robot has at least all the beneficial effects described above, and details are not described herein. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0030] Figure 1is a schematic diagram of an overall structure of an optical scanning assembly in an optical distance measuring device according to an embodiment of the present application;

[0031] Figure 2 is a schematic diagram of an overall structure of an optical scanning assembly in an optical distance measuring device according to an embodiment of the present application;

[0032] Figure 3 is a schematic diagram of an overall structure of an optical scanning assembly in an optical distance measuring device according to another embodiment of the present application;

[0033] Figure 4 is a schematic diagram of an overall structure of an optical scanning assembly in an optical distance measuring device according to yet another embodiment of the present application;

[0034] Figure 5 is a schematic diagram of an upper cover in an optical distance measuring device according to an embodiment of the present application;

[0035] Figure 6 is a schematic diagram of a mobile robot according to an embodiment of the present application.

[0036] The reference numerals in the above drawings are listed as follows:

[0037] 10, mobile robot; 11, body; 12, optical distance measuring device;

[0038] 100, optical scanning assembly; 110, optical-mechanical module; 111, transmitting cylinder; 112, receiving cylinder; 120, rotating mirror module; 121, rotating mirror support; 122, reflecting mirror; 123, reflecting surface; 1231, transmitting reflecting area; 1232, receiving reflecting area; 124, first light beam scanning range; 125, second light beam scanning range; 130, upper cover; 131, first cover body; 1311, first peripheral sidewall; 1313, first top wall; 1314, first accommodating space; 132, second cover body; 1321, second peripheral sidewall; 1322, second top wall; 1323, second accommodating space; 133, cover body; 134, first recessed area; 1341, first inclined surface; 135, second recessed area; 1351, second inclined surface; 136, first light-transmitting part; 1361, first opening; 1362, first light-transmitting sheet; 137, second light-transmitting part; 1371, second opening; 140, circuit board; 150, driving part; 160, base. DETAILED DESCRIPTION

[0039] In order to make the technical problems solved by the present application, the technical solutions and the beneficial effects clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0040] It should be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element.

[0041] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the indicated structure or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0042] In addition, the terms "first", "second", are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0043] Finally, it is worth noting that in the drawings provided by the embodiments of the present application, the lead with solid arrow points to the structure itself, the lead with hollow arrow points to the structure surface, and the lead with dot points to a virtual area (such as area, space, etc.).

[0044] In order to illustrate the technical solutions described in the present application, the following will be described in detail in combination with specific drawings and embodiments.

[0045] As Figure 1 and Figure 2As shown, one embodiment of the present application provides an optical distance measuring device 12, which comprises an optical scanning assembly 100, the optical scanning assembly 100 comprising an optical engine module 110, a rotating mirror module 120 and an upper cover 130. The optical engine module 110 and the rotating mirror module 120 are sequentially arranged along a first direction, the rotating mirror module 120 being capable of rotating about a rotation axis relative to the upper cover 130, wherein the first direction is perpendicular to the rotation axis. The optical engine module 110 is configured to emit a detection light beam to the rotating mirror module 120, and the rotating mirror module 120 is configured to reflect the detection light beam. The upper cover 130 comprises a first cover body 131 and a second cover body 132 connected to each other, the first cover body 131 covering the optical engine module 110, and the second cover body 132 covering the rotating mirror module 120. At least part of the structure of the second cover body 132 is configured as a light-transmitting structure to allow the detection light beam reflected by the rotating mirror module 120 to pass to the outside. The first side wall of the first cover body 131 in a second direction has a first inclined surface 1341 formed on the side close to the second cover body 132, and the second direction is perpendicular to the rotation axis and the first direction. In the direction from the first cover body 131 to the side close to the second cover body 132, the first inclined surface 1341 gradually inclines to the inside of the first cover body 131, and the first inclined surface 1341 is connected to the circumferential surface of the second cover body 132.

[0046] The optical distance measuring device 12 provided by the embodiment of the present application has the first inclined surface 1341 formed on the side of the first side wall of the first cover body 131 in the second direction close to the second cover body 132, and in the direction from the first cover body 131 to the side close to the second cover body 132, the first inclined surface 1341 gradually inclines to the inside of the first cover body 131. In this way, the area of the circumferential surface of the second cover body 132 is larger, and the area of the light-transmitting structure provided on the circumferential surface is larger. When the area of the circumferential surface of the second cover body 132 connected to the first inclined surface 1341 is configured as the light-transmitting structure, the rotating mirror module 120 can reflect more detection light beams to the outside, thereby increasing the scanning range of the optical distance measuring device 12 for emitting the detection light beam to the outside.

[0047] It can be understood that the light-transmitting structure refers to a structure through which the detection light beam can pass. The light-transmitting structure can be an open hole, or the light-transmitting structure is made of a light-transmitting material, which can be glass, acrylic or other light-transmitting materials.

[0048] In an example, the extension direction of the rotation axis is a vertical direction, and the first direction and the second direction are horizontal directions arranged perpendicular to each other. For the convenience of description, hereinafter, the extension direction of the rotation axis is taken as the vertical direction, and the first direction and the second direction are taken as the horizontal directions arranged perpendicular to each other as examples for description. In the drawings provided by the embodiment of the present application, the first direction is indicated by a double-headed arrow A-A, the second direction is indicated by a double-headed arrow B-B, and the extension direction of the rotation axis is indicated by a double-headed arrow C-C.

[0049] In the embodiments of the present application, the axis of the detection light beam emitted by the light machine module 110 to the rotating mirror module 120 and the rotation axis are arranged at an angle. Alternatively, the angle between the axis of the detection light beam emitted by the light machine module 110 and the rotation axis can be 90 degrees, that is, the first axis and the rotation axis can be arranged perpendicularly. Alternatively, the first axis and the rotation axis can be arranged intersecting, that is, the first axis and the rotation axis are in the same plane. In a specific example, the axis of the detection light beam emitted by the light machine module 110 and the rotation axis intersect and are perpendicular to each other.

[0050] Alternatively, the first cover 131 and the second cover 132 are integrally formed or connected in a split manner. That is, the first cover 131 and the second cover 132 can be connected as an integral structure by integrally forming, or the first cover 131 and the second cover 132 are both split structures, but the first cover 131 and the second cover 132 can be connected by welding, gluing, clamping or other suitable means. The first cover 131 and the second cover 132 are connected by integrally forming, so that the first cover 131 and the second cover 132 are an integral structure, which not only improves the connection stability of the first cover 131 and the second cover 132, but also reduces the steps of assembling the first cover 131 and the second cover 132 during installation, facilitating assembly. When the first cover 131 and the second cover 132 are an integral structure, the first cover 131 and the second cover 132 can be integrally formed by using a light-transmitting material, and the outer side wall of the first cover 131 can be coated with a light-shielding material.

[0051] The side wall where the circumferential side of the second cover 132 is located is the circumferential side wall of the second cover 132. In some embodiments, as shown in Figure 2 and Figure 5 The circumferential side wall of the second cover 132 is a cylindrical structure with a notch, and the axis of the circumferential side wall of the second cover 132 coincides with the rotation axis, and the notch faces the light machine module 110, so that the detection light beam emitted by the light machine module 110 can pass through the notch and be emitted to the rotating mirror module 120. At least part of the circumferential side wall of the second cover 132 is arranged as a light-transmitting structure. In this way, during the rotation of the rotating mirror module 120, the angle between the detection light beam emitted by the light machine module 110 and the light-transmitting structure on the circumferential side wall of the second cover 132 does not change when the detection light beam is reflected by the rotating mirror module 120 to the light-transmitting structure, so that the angle between the detection light beam emitted after passing through the light-transmitting structure and the light-transmitting structure does not change, thereby enabling the detection light beam to uniformly scan the outside, improving the scanning accuracy of the optical distance measuring device 12.

[0052] In a possible design, as shown in Figures 1 to 6As shown, the detection light beams have a first light beam scanning range 124 after being reflected by the rotating mirror module 120, and the first light beam scanning range 124 and the first side wall are both located on the first side of the rotation axis in the second direction. A first recessed area 134 is formed between the first inclined surface 1341 and the circumferential surface of the second cover body 132, and at least part of the first recessed area 134 is located in the first light beam scanning range 124. It should be noted that at least part of the first recessed area 134 is located in the first light beam scanning range 124, which means that at least part of the area of the circumferential surface of the second cover body 132 opposite to the first recessed area 134 is located in the first light beam scanning range 124. In this embodiment, the area of the circumferential wall of the second cover body 132 located in the first light beam scanning range 124 is configured as a light-transmitting structure. According to the above configuration, at least part of the light beams emitted by the light machine module 110 can pass through the circumferential wall of the second cover body 132 and be emitted to the outside through the first recessed area 134 after being reflected by the rotating mirror module 120, preventing the first cover body 131 from blocking the light beams in the first light beam scanning range 124, so that the first light beam scanning range 124 can meet the scanning requirements of the optical distance measuring device 12. It should be noted that a reference plane parallel to the first direction can be defined with respect to the rotation axis, and the first side of the rotation axis in the second direction is one side of the reference plane, and correspondingly, the second side of the rotation axis in the second direction is the other side of the reference plane, and the second side of the rotation axis in the second direction is opposite to the first side of the rotation axis in the second direction.

[0053] In a possible design, as shown in Figures 1 to 6 the first cover body 131 has a second side wall in the second direction, and the detection light beams have a second light beam scanning range 125 after being reflected by the rotating mirror module 120, and the second light beam scanning range 125 and the second side wall are both located on the second side of the rotation axis in the second direction, wherein the first side in the second direction is opposite to the second side in the second direction. That is, the optical distance measuring device 12 provided by the embodiments of the present application can not only detect the first light beam scanning range 124 on the first side in the second direction, but also detect the second light beam scanning range 125 on the second side opposite to the first side in the second direction, thereby meeting the detection requirements of a larger range.

[0054] The second side wall is formed with a second inclined surface 1351 close to the second cover 132. The second inclined surface 1351 gradually inclines to the inside of the first cover 131 in the direction from the first cover 131 to the second cover 132, and connects with the circumferential side surface of the second cover 132. A second recessed area 135 is formed between the second inclined surface 1351 and the circumferential side surface of the second cover 132, and at least part of the second recessed area 135 is located in the second light beam scanning range 125. It is worth noting that at least part of the second recessed area 135 is located in the second light beam scanning range 125, which means that at least part of the area on the circumferential side surface of the second cover 132 opposite to the second recessed area 135 is located in the second light beam scanning range 125. In this embodiment, the area on the circumferential side wall of the second cover 132 at least in the second light beam scanning range 125 is provided as a light-transmitting structure. According to the above arrangement, at least part of the light beams emitted by the light engine module 110 can pass through the circumferential side wall of the second cover 132 and be emitted to the outside through the second recessed area 135 after being reflected by the rotating mirror module 120, preventing the first cover 131 from blocking the light beams in the second light beam scanning range 125, so that the second light beam scanning range 125 can meet the scanning requirements of the optical distance measuring device 12.

[0055] The rotating mirror module 120 has a reflecting surface 123 capable of reflecting the detection light beams. The light engine module 110 emits light beams to the reflecting surface 123 of the rotating mirror module 120, and the detection light beams are reflected to the outside via the reflecting surface 123. During the rotation of the rotating mirror module 120 around the rotation axis, the angle between the detection light beams emitted by the light engine module 110 and the reflecting surface 123 changes constantly, so that the direction of the detection light beams emitted to the outside also changes. Therefore, by rotating the rotating mirror module 120 around the rotation axis, the rotating mirror module 120 can reflect the detection light beams emitted by the light engine module 110 to the outside in different directions. Based on the above reference plane passing through the rotation axis and parallel to the first direction, the second cover 132 has a first part of the circumferential side wall located on the first side of the reference plane in the second direction, and a second part of the circumferential side wall located on the second side of the reference plane in the second direction. It is worth noting that during the rotation of the rotating mirror module 120, the range that can be irradiated by the detection light beams emitted via the first part of the circumferential side wall is the first light beam scanning range 124, and the range that can be irradiated by the detection light beams emitted via the second part of the circumferential side wall is the second light beam scanning range 125.

[0056] It is worth noting that, Figure 6 In this embodiment, the detection light beams passing through the boundaries of the first light beam scanning range 124 and the second light beam scanning range 125 are represented by dashed arrows.

[0057] In a possible design, as Figure 1 , Figure 2 and Figure 6As shown, the rotating mirror module 120 has a first light beam scanning range 124 and a second light beam scanning range 125, the size of the first light beam scanning range 124 is a first included angle, and the size of the second light beam scanning range 125 is a second included angle. It is worth noting that the size of the first light beam scanning range 124 specifically refers to the size of the region between the detection light beams passing through the boundaries of the first light beam scanning range 124, that is, the included angle (the first included angle) between the detection light beams passing through the boundaries of the first light beam scanning range 124. Similarly, the size of the second light beam scanning range 125 specifically refers to the size of the region between the detection light beams passing through the boundaries of the second light beam scanning range 125, that is, the included angle (the second included angle) between the detection light beams passing through the boundaries of the second light beam scanning range 125. It can be understood that the larger the first included angle, the larger the first light beam scanning range 124; the larger the second included angle, the larger the second light beam scanning range 125.

[0058] Alternatively, the first included angle is greater than the second included angle, the depth of the first recessed area 134 in the second direction is greater than the depth of the second recessed area 135 in the second direction; or the first included angle is equal to the second included angle, the depth of the first recessed area 134 in the second direction is equal to the depth of the second recessed area 135 in the second direction; or the first included angle is less than the second included angle, the depth of the first recessed area 134 in the second direction is less than the depth of the second recessed area 135 in the second direction. The deeper the depth of the first recessed area 134 or the second recessed area 135 in the second direction, the longer the length of the circumferential side surface of the second cover body 132 in the second direction, and the larger the area of the circumferential side surface of the second cover body 132, so that the area of the circumferential side surface of the second cover body 132 that can be provided as a light-transmitting structure is larger, thereby allowing more detection light beams emitted by the light engine module 110 to be reflected by the rotating mirror module 120 and then emitted to the outside through the light-transmitting structure.

[0059] According to the above setting mode, if the first light beam scanning range 124 is larger, the depth of the first recessed area 134 in the second direction is set to be deeper, so as to ensure that the detection light beams in the first light beam scanning range 124 can be smoothly emitted to the outside through the second cover body 132. Similarly, if the second scanning range is larger, the depth of the second recessed area 135 in the second direction is set to be deeper, so as to ensure that the detection light beams in the second light beam scanning range 125 can be smoothly emitted to the outside through the second cover body 132.

[0060] In one possible design, as shown in FIG. 1B, the rotating mirror module 120 has a first light beam scanning range 124 and a second light beam scanning range 125, the size of the first light beam scanning range 124 is a first included angle, and the size of the second light beam scanning range 125 is a second included angle. It is worth noting that the size of the first light beam scanning range 124 specifically refers to the size of the region between the detection light beams passing through the boundaries of the first light beam scanning range 124, that is, the included angle (the first included angle) between the detection light beams passing through the boundaries of the first light beam scanning range 124. Similarly, the size of the second light beam scanning range 125 specifically refers to the size of the region between the detection light beams passing through the boundaries of the second light beam scanning range 125, that is, the included angle (the second included angle) between the detection light beams passing through the boundaries of the second light beam scanning range 125. It can be understood that the larger the first included angle, the larger the first light beam scanning range 124; the larger the second included angle, the larger the second light beam scanning range 125. Figure 1 and Figure 2As shown, when the detection light beam has the first light beam scanning range 124 after being reflected by the rotating mirror module 120, at least part of the circumferential wall of the second cover body 132 is a first light-transmitting part 136, the first light-transmitting part 136 is located on the first side of the second direction of the rotation axis, and the detection light beam in the first light beam scanning range 124 is configured to be emitted to the outside world after passing through the first light-transmitting part 136.

[0061] Optionally, referring to Figure 2 , the first light-transmitting part 136 includes a first opening 1361, the first opening 1361 is formed on the circumferential wall of the second cover body 132, and the first opening 1361 is open. The detection light beam can be emitted to the outside world through the first opening 1361. In this way, other parts of the second cover body 132 can be configured as a light-blocking structure, thereby avoiding stray light from entering the other light-transmitting parts of the second cover body 132 to affect the detection effect, and facilitating improvement of the detection accuracy.

[0062] Alternatively, referring to Figure 3 , the first light-transmitting part 136 includes a first opening 1361 and a first light-transmitting sheet 1362, the first opening 1361 is formed on the circumferential wall of the second cover body 132, and the first light-transmitting sheet 1362 is arranged on the first opening 1361 and partially covers or completely seals the first opening 1361. The first light-transmitting sheet 1362 can be made of glass, acrylic or other light-transmitting materials, so that the detection light beam can be emitted to the outside world through the first light-transmitting sheet 1362, and the first light-transmitting sheet 1362 can have a certain dustproof effect.

[0063] Alternatively, referring to Figure 4 , the circumferential wall of the second cover body 132 is a light-transmitting structure as a whole, and the part of the second cover body 132 located on the first side of the second direction of the rotation axis is formed as the first light-transmitting part 136, Figure 4 , the dashed box in the figure represents the first light-transmitting part 136. In this way, the dustproof effect is better, and the detection light beam can be emitted to the outside world through the light-transmitting structure. Moreover, the second cover body 132 can be directly made of a light-transmitting material, thereby reducing the process of arranging the first light-transmitting part 136 on the second cover body 132 again, and simplifying the structure and the production process.

[0064] In a possible design, when the detection light beam has the second light beam scanning range 125 after being reflected by the rotating mirror module 120, at least part of the circumferential wall of the second cover body 132 is a second light-transmitting part 137, the second light-transmitting part 137 is located on the second side of the second direction of the rotation axis, and the detection light beam in the second light beam scanning range 125 is configured to be emitted to the outside world after passing through the second light-transmitting part 137.

[0065] Optionally, as Figure 2 or Figure 5As shown, the second light-transmitting part 137 includes a second opening 1371 formed on the circumferential sidewall of the second cover body 132, and the second opening 1371 is open, and the detection light beam can be emitted to the outside through the second opening 1371. In this way, the second cover body 132 can be provided as a non-light-transmitting structure except for the first opening 1361 and the second opening 1371, so as to avoid stray light from entering the other light-transmitting part of the second cover body 132 to affect the detection effect, and facilitate to improve the detection accuracy.

[0066] Alternatively, the second light-transmitting part 137 includes a second opening 1371 and a second light-transmitting sheet (not shown in the figure), the second opening 1371 is formed on the circumferential sidewall of the second cover body 132, and the second light-transmitting sheet is arranged on the second opening 1371 and partially covers or completely seals the second opening 1371. The second light-transmitting sheet can be made of glass, acrylic or other light-transmitting materials, so that the detection light beam can be emitted to the outside through the second light-transmitting sheet, and the second light-transmitting sheet can have a certain dustproof effect.

[0067] Alternatively, the circumferential sidewall of the second cover body 132 is a light-transmitting structure as a whole, and the part of the second cover body 132 located on the second side of the rotation axis in the second direction is formed as the second light-transmitting part 137. In this way, the dustproof effect is better, and the detection light beam can be emitted to the outside through the light-transmitting structure. Moreover, the second cover body 132 can be directly made of a light-transmitting material, which reduces the process of arranging the second light-transmitting part 137 on the second cover body 132 again, and the structure is simple, and the production process is also simple. Optionally, the first cover body 131 and the second cover body 132 are both light-transmitting structures, so as to facilitate the first cover body 131 and the second cover body 132 to be made by an integral molding manner, so that the production process of the upper cover 130 is simpler.

[0068] In a possible design, as shown in Figure 1 The first cover body 131 includes a first top wall 1313 and a first circumferential sidewall 1311, the first circumferential sidewall 1311 surrounds the light machine module 110 outside at least part of the outer contour of the light machine module 110, and the first top wall 1313 covers one side of the light machine module 110 in the extension direction of the rotation axis and is connected with the first circumferential sidewall 1311. Specifically, the first top wall 1313 specifically covers the upper part of the light machine module 110. Optionally, the first top wall 1313 and the first circumferential sidewall 1311 can be connected by means of gluing, welding or integral molding. In this embodiment, the sidewall of the first circumferential sidewall 1311 on the first side in the second direction is a first sidewall, and the sidewall of the first circumferential sidewall 1311 on the second side in the second direction is a second sidewall.

[0069] The first - week sidewall 1311 can be a fully - enclosed structure. For example, the first - week sidewall 1311 is an "O" - shaped structure or a "square" - shaped structure, etc. The first - week sidewall 1311 surrounds the outer periphery of the optical engine module 110 along the outer contour of the optical engine module 110. In this embodiment, the first - week sidewall 1311 is formed with an opening to facilitate the optical engine module 110 to emit a detection beam to the rotary mirror module 120.

[0070] Alternatively, the first - week sidewall 1311 can also be a semi - enclosed structure. For example, the first - week sidewall 1311 is a "C" - shaped structure or a "匚" - shaped structure, etc. The first - week sidewall 1311 is disposed outside the optical engine module 110 along a part of the outer contour of the optical engine module 110. Exemplarily, the outer contour of the optical engine module 110 at least has a first side and a second side spaced along a first direction, and a third side and a fourth side spaced along a second direction. The first side is relatively close to the rotary mirror module 120, and the second side is relatively far from the rotary mirror module 120. The first - week sidewall 1311 is disposed on one side of the third side away from the fourth side, one side of the second side away from the first side, and one side of the fourth side away from the third side. The two ends of the first - week sidewall 1311 close to the second cover 132 are respectively connected to the second cover 132.

[0071] As Figure 1 and Figure 5 shown, the first - week sidewall 1311 is disposed outside the optical engine module 110 along at least a part of the outer contour of the optical engine module 110. It can be understood that the first - week sidewall 1311 encloses to form a first accommodation space 1314. The shape of the first accommodation space 1314 is substantially the same as or even exactly the same as the shape of a part of the outer contour of the optical engine module 110. The side of the first - week sidewall 1311 facing the first accommodation space 1314 tightly wraps around at least a part of the outer periphery of the optical engine module 110. Thus, to minimize the space occupied by the first cover 131, it is beneficial to miniaturize the optical ranging device 12.

[0072] In a possible design, as Figure 1 shown, the second cover 132 includes a second top wall 1322 and a second - week sidewall 1321. The second - week sidewall 1321 is disposed outside the rotary mirror module 120 along at least a part of the outer contour of the area passed by the rotary mirror module 120 during rotation. The second top wall 1322 covers one side of the rotary mirror module 120 in the extending direction of the rotation axis and is connected to the second - week sidewall 1321. Specifically, the second top wall 1322 specifically covers the upper part of the rotary mirror module 120. Optionally, the second top wall 1322 and the second - week sidewall 1321 can be connected by gluing, welding or integrally forming, etc.

[0073] The second peripheral side wall 1321 can be a full-enclosing structure, for example, the second peripheral side wall 1321 is a cylindrical structure, and the axis of the second peripheral side wall 1321 coincides with the rotation axis, and the second peripheral side wall 1321 encloses the outer periphery of the rotating mirror module 120. In this embodiment, a communication hole is formed on the side of the second peripheral side wall 1321 close to the light machine module 110, and the communication hole is in communication with the first accommodating space 1314, so as to facilitate the light machine module 110 to emit a detection light beam to the rotating mirror module 120.

[0074] Alternatively, the first peripheral side wall 1311 can also be a semi-enclosing structure, for example, the second peripheral side wall 1321 is a cylindrical structure, and the axis of the second peripheral side wall 1321 coincides with the rotation axis, but in this embodiment, a gap is provided through the second peripheral side wall 1321 along the extension direction of the rotation axis on the side close to the light machine module 110. The shape of the area passed by the rotating mirror module 120 during rotation is cylindrical, and the second peripheral side wall 1321 encloses part of the outer periphery of the area passed by the rotating mirror module 120 during rotation. In the circumferential direction around the rotation axis, the areas on the opposite sides of the gap in the second peripheral side wall 1321 are connected to the first peripheral side wall 1311, respectively.

[0075] As shown in Figure 1 and Figure 5 , the second peripheral side wall 1321 encloses at least part of the outer contour of the area passed by the rotating mirror module 120 during rotation. It can be understood that the second peripheral side wall 1321 encloses to form a second accommodating space 1323, and the shape of the second accommodating space 1323 is substantially the same as or even completely the same as at least part of the outer contour shape of the area passed by the rotating mirror module 120 during rotation. The side of the second peripheral side wall 1321 facing the second accommodating space 1323 tightly wraps at least part of the outer periphery of the area passed by the rotating mirror module 120 during rotation. In this way, while avoiding collision between the rotating mirror module 120 during rotation and the second cover 132, the space occupied by the second cover 132 is minimized, which is conducive to miniaturization of the optical distance measuring device 12.

[0076] In one possible design, the first peripheral side wall 1311 encloses the light machine module 110 outside part of the outer contour of the light machine module 110, and the first top wall 1313 covers one side of the light machine module 110 in the extension direction of the rotation axis and is connected to the first peripheral side wall 1311. At the same time, the second peripheral side wall 1321 encloses the rotating mirror module 120 outside part of the outer contour of the area passed by the rotating mirror module 120 during rotation, and the second top wall 1322 covers one side of the rotating mirror module 120 in the extension direction of the rotation axis and is connected to the second peripheral side wall 1321. In this way, the space occupied by the upper cover 130 can be further reduced, thereby more conducive to miniaturization of the optical distance measuring device 12.

[0077] In the embodiments of the present application, the first cover body 131 can protect the optical engine module 110, and the second cover body 132 can protect the rotating mirror module 120. In a possible design, as shown in Figure 1 and Figure 2 the optical scanning assembly 100 further includes a base 160, and the optical engine module 110 and the rotating mirror module 120 are both mounted on the base 160. The upper cover 130 further includes a cover body 133, and at least one of the first cover body 131 and the second cover body 132 is connected with the cover body 133. In the extension direction of the rotation axis, the projection of the cover body 133 covers the part of the base 160 which is not covered by the projection of the first cover body 131 and the projection of the second cover body 132. In this arrangement, by arranging the cover body 133, the connection area between the upper cover 130 and the base 160 can be increased, so as to improve the connection stability between the upper cover 130 and the base 160. In addition, when other structures are also mounted on the base 160, the cover body 133 can be arranged in the part of the base 160 which is not covered by the first cover body 131 and the second cover body 132, so as to protect the other structures on the base 160.

[0078] In an example, as shown in Figure 2 the base 160 further mounts a circuit board 140, and the circuit board 140 is electrically connected with the optical engine module 110. Specifically, the base 160 is formed with a receiving cavity, and the circuit board 140 is mounted in the receiving cavity. The upper portion of the base 160 is formed with an opening which is in communication with the receiving cavity, and the optical engine module 110 and the rotating mirror module 120 are both mounted on the base 160 and are electrically connected with the circuit board 140. The first cover body 131, the second cover body 132 and the cover body 133 are all arranged on the base 160, and the first cover body 131 is arranged outside the optical engine module 110, the second cover body 132 is arranged outside the rotating mirror module 120, and the cover body 133 is arranged on the region of the base 160 which is not covered by the first cover body 131 and the second cover body 132, so as to protect the circuit board 140 in the receiving cavity.

[0079] In the embodiments of the present application, the first cover body 131, the second cover body 132 and the cover body 133 can be connected by any suitable mode such as gluing, welding or one-piece forming. In an example, the first cover body 131, the second cover body 132 and the cover body 133 are connected as one-piece structure by one-piece forming. The cover body 133 can be connected with only the first cover body 131 or the second cover body 132, or can be connected with both the first cover body 131 and the second cover body 132. Optionally, the cover body 133 can be a plate-shaped structure, a cylindrical structure or other shape structure, which is not limited herein.

[0080] In a possible design, as shown in Figure 2As shown, along a direction perpendicular to the rotation axis, one side of the rotating mirror module 120 is formed with a reflecting surface 123, and the reflecting surface 123 coincides with the rotation axis. Alternatively, along a direction perpendicular to the rotation axis, opposite sides of the rotating mirror module 120 are both formed with a reflecting surface 123. It can be understood that the reflecting surface 123 is used to reflect the detection light beam, which can be the detection light beam emitted from the light machine module 110 to the reflecting surface 123, or the detection light beam reflected from the reflecting surface 123 to the external obstacle and then reflected back to the reflecting surface 123 by the external obstacle, and the detection light beam reflected back to the reflecting surface 123 by the external obstacle is reflected to the light machine module 110 by the reflecting surface 123 to be received by the light machine module 110. According to the above arrangement, during the rotation of the rotating mirror module 120, the reflecting surface 123 can always coincide with the rotation axis, so that no matter whether the detection light beam reflected by the reflecting surface 123 is emitted through the first part of the peripheral side wall or the second part of the peripheral side wall, the detection light beam has a large emission range, so that the rotating mirror module 120 can have a large first light beam scanning range 124 and a second light beam scanning range 125. Optionally, the rotating mirror module 120 includes a reflecting mirror 122, and the reflecting surface 123 is specifically formed on the reflecting mirror 122. Specifically, along a direction perpendicular to the rotation axis, one side of the reflecting mirror 122 is formed with a reflecting surface 123, and the reflecting surface 123 coincides with the rotation axis. Alternatively, along a direction perpendicular to the rotation axis, opposite sides of the reflecting mirror 122 are both formed with a reflecting surface 123.

[0081] Optionally, the number of reflecting mirrors 122 can be one or two. In one example, the reflecting mirror 122 is one, and the reflecting surface 123 of the reflecting mirror 122 includes an emission reflecting area 1231 and a receiving reflecting area 1232, the emission reflecting area 1231 is used to reflect the detection light beam emitted by the light machine module 110 to the external environment, and the receiving reflecting area 1232 is used to reflect the detection light beam reflected back by the external obstacle back to the light machine module 110. In another example, the reflecting mirror 122 is two, and the reflecting surface 123 of one of the reflecting mirrors 122 is used to reflect the detection light beam emitted by the light machine module 110 to the external environment, and the reflecting surface 123 of the other reflecting mirror 122 is used to reflect the detection light beam reflected back by the external obstacle back to the light machine module 110.

[0082] In some alternative examples, the two opposite sides of the mirror 122 are both reflective surfaces 123. In this example, the two reflective surfaces 123 on the opposite sides of the mirror 122 are both parallel to the rotation axis. In this way, when the detection beam emitted by the light machine module 110 is emitted to the reflective surface 123 on one side of the mirror 122 and is reflected by the reflective surface 123 to the first part of the circumferential side wall, the detection beam emitted by the light machine module 110 scans the first light beam scanning range 124; when the second light beam scanning range 125 needs to be scanned, only a small angle of rotation of the rotation module is needed, so that the detection beam emitted by the light machine module 110 is emitted to the reflective surface 123 on the other side of the mirror 122 and is reflected by the reflective surface 123 to the second part of the circumferential side wall, so that the detection beam emitted by the light machine module 110 scans the second light beam scanning range 125. In this way, the scanning speed of the light machine distance measuring device can be improved. Alternatively, the two reflective surfaces 123 on the opposite sides of the mirror 122 are symmetrically arranged with respect to the rotation axis.

[0083] In some embodiments, when the number of mirrors 122 is one, the reflective surface 123 on one side of the mirror 122 can include an emission reflection area 1231 and a receiving reflection area 1232, and the reflective surface 123 on the other side of the mirror 122 can also include an emission reflection area 1231 and a receiving reflection area 1232. When the number of mirrors 122 is two, the reflective surfaces 123 on the opposite sides of one of the mirrors 122 are used to reflect the detection beam emitted by the light machine module 110 to the outside world, and the reflective surfaces 123 on the opposite sides of the other mirror 122 are used to reflect the detection beam reflected by the external obstacles back to the light machine module 110.

[0084] In a possible design, as shown in Figure 2 The light machine module 110 includes an emission cylinder 111 and a receiving cylinder 112, and the axis of the emission cylinder 111, the axis of the receiving cylinder 112, and the rotation axis are located in the same plane. In this embodiment, the axis of the emission cylinder 111 is the first axis described above. In this way, during the rotation of the mirror rotation module 120, whether the detection beam is emitted out through the first part of the circumferential side wall or the second part of the circumferential side wall after being reflected by the mirror rotation module 120, the detection beam has a large emission range, so that the mirror rotation module 120 can have a large first light beam scanning range 124 and a large second light beam scanning range 125. Alternatively, the axis of the emission cylinder 111 and the axis of the receiving cylinder 112 are both perpendicular to the rotation axis.

[0085] In some embodiments, as shown in Figure 2As shown, the rotating mirror module 120 includes a reflecting mirror 122, the reflecting mirror 122 has a reflecting surface 123 coinciding with the rotation axis, the reflecting surface 123 includes a transmitting reflecting area 1231 and a receiving reflecting area 1232, the transmitting reflecting area 1231 and the receiving reflecting area 1232 are arranged along the extension direction of the rotation axis, the transmitting barrel 111 and the receiving barrel 112 are also arranged along the extension direction of the rotation axis, the transmitting reflecting area 1231 is arranged along a first direction with the transmitting barrel 111, and the receiving reflecting area 1232 is arranged along the first direction with the receiving barrel 112.

[0086] In some optional embodiments, the rotating mirror module 120 further includes a rotating mirror holder 121, the rotating mirror holder 121 is rotatably installed on the base 160 around the rotation axis, and the reflecting mirror 122 is installed on the rotating mirror holder 121. The optical scanning assembly 100 further includes a driving part 1250, the driving part 1250 is installed on the base 160, and the driving part 1250 is connected with the rotating mirror holder 121. The driving part 1250 is configured to drive the rotating mirror holder 121 to rotate around the rotation axis, and the driving part 1250 can include a rotary motor or other suitable rotary driving structure.

[0087] In a possible design, the optical distance measuring device 12 further includes a lifting driving mechanism (not shown in the figure), the lifting driving mechanism is connected with the optical scanning assembly 100, and the lifting driving mechanism is configured to drive the optical scanning assembly 100 to move along the extension direction of the rotation axis. When the optical distance measuring device 12 provided by the embodiments of the present application is applied to an external device, the optical distance measuring device 12 is installed inside the external device, the external device is formed with a via hole for the optical scanning assembly 100 to move out, and the optical scanning assembly 100 can be driven by the lifting driving mechanism to extend out of the external device via the via hole or to retract into the external device. When it is necessary to perform scanning detection on different sides of the front, back, left and right of the external device, the optical scanning assembly 100 can be driven by the lifting driving mechanism to extend out of the via hole, so that the detection light beams emitted by the light machine module 110 in the optical scanning assembly 100 can be scanned to different sides of the external device. When it is not necessary to perform scanning detection on the front, back, left and right of the external device, the optical scanning assembly 100 can be driven by the lifting driving mechanism to retract into the external device, so as to reduce the volume of the external device and protect the optical distance measuring device 12.

[0088] In some embodiments, the lifting driving mechanism is specifically connected with the base 160 in the optical scanning assembly 100, and the light machine module 110, the rotating mirror module 120 and the upper cover 130 on the base 160 can be driven to move along the extension direction of the rotation axis synchronously by driving the base 160 to move along the extension direction of the rotation axis.

[0089] As Figure 6As shown, another embodiment of the present application provides a mobile robot 10 comprising the optical distance measuring device 12 provided by any of the above embodiments. Since the mobile robot 10 of the present application comprises the optical distance measuring device 12 provided by any of the above embodiments, it has at least all the beneficial effects of the above, which will not be repeated here. In the embodiments of the present application, the mobile robot 10 can be a sweeping robot or other movable robot, which is not limited here.

[0090] In an embodiment, as shown in Figure 1 、 Figure 2 and Figure 6 , the mobile robot 10 further comprises a body 11 having a mounting cavity in which the optical distance measuring device 12 is located. Optionally, the lifting driving mechanism in the optical distance measuring device 12 is connected with the inner wall of the mounting cavity and the base 160 in the optical scanning assembly 100 respectively, and the body 11 is formed with a through hole communicating with the mounting cavity, and the lifting driving mechanism is used to drive the base 160 and the optical-mechanical module 110, the rotating mirror module 120 and the upper cover 130 mounted on the base 160 to move in the vertical direction, so that the optical scanning assembly 100 can be extended or retracted from the mounting cavity through the through hole.

[0091] In some embodiments, the second direction is specifically the front-rear direction of the mobile robot 10. Specifically, the first side in the second direction is the front side of the mobile robot 10, and the second side in the second direction is the rear side of the mobile robot 10. The side wall in the body 11 located at the front side of the mounting cavity can be provided as a light-transmitting structure, when only the front side of the mobile robot 10 needs to be scanned, the optical scanning assembly 100 can be located in the mounting cavity to scan the front side of the mobile robot 10; when the rear side of the mobile robot 10 needs to be scanned, the optical scanning assembly 100 can be driven by the lifting driving mechanism to extend out of the mounting cavity through the through hole to scan the rear side of the robot.

[0092] The above only describes optional embodiments of the present application and does not limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An optical distance measuring device, characterized in that The optical scanning assembly (100) comprises an optical engine module (110), a rotating mirror module (120) and an upper cover (130); The optical engine module (110) and the rotating mirror module (120) are sequentially arranged along a first direction, the rotating mirror module (120) is capable of rotating around a rotating axis relative to the upper cover (130), wherein the first direction is perpendicular to the rotating axis; the optical engine module (110) is configured to emit a detection light beam to the rotating mirror module (120), and the rotating mirror module (120) is configured to reflect the detection light beam; The upper cover (130) comprises a first cover body (131) and a second cover body (132) connected with each other, the first cover body (131) covers the optical engine module (110), and the second cover body (132) covers the rotating mirror module (120); at least part of the second cover body (132) is configured as a light-transmitting structure to allow the detection light beam reflected by the rotating mirror module (120) to pass through to the outside; The first cover body (131) has a first side wall in a second direction, a portion of the first side wall close to the second cover body (132) is formed with a first inclined surface (1341), and the second direction is perpendicular to the rotating axis and the first direction; in a direction from the first cover body (131) to the second cover body (132), the first inclined surface (1341) gradually inclines to the inner side of the first cover body (131), and the first inclined surface (1341) is connected with the peripheral side surface of the second cover body (132).

2. The optical distance measuring device as claimed in claim 1, characterized in that The detection light beam reflected by the rotating mirror module (120) has a first light beam scanning range (124), the first light beam scanning range (124) and the first side wall are located on the first side of the rotating axis in the second direction; a first recessed area (134) is formed between the first inclined surface (1341) and the peripheral side surface of the second cover body (132), and at least part of the first recessed area (134) is located in the first light beam scanning range (124).

3. The optical distance measuring device as claimed in claim 2, characterized in that At least part of the peripheral side wall of the second cover body (132) is a first light-transmitting portion (136), and the first light-transmitting portion (136) is located on the first side of the rotating axis in the second direction; the detection light beam in the first light beam scanning range (124) is configured to pass through the first light-transmitting portion (136) and then be emitted to the outside The first light-transmitting part (136) comprises a first opening (1361) formed on the circumferential sidewall of the second cover body (132), and the first opening (1361) is open; or the first light-transmitting part (136) comprises a first opening (1361) formed on the circumferential sidewall of the second cover body (132) and a first light-transmitting sheet (1362) arranged on the first opening (1361) and partially covering or completely sealing the first opening (1361); or the circumferential sidewall of the second cover body (132) is a light-transmitting structure as a whole, and the part of the second cover body (132) located on the first side of the rotation axis in the second direction forms the first light-transmitting part (136).

4. The optical distance measuring device as claimed in claim 2, characterized in that The first cover body (131) has a second sidewall in the second direction, and the detection light beam reflected by the rotating mirror module (120) has a second light beam scanning range (125), and the second light beam scanning range (125) and the second sidewall are both located on the second side of the rotation axis in the second direction, wherein the first side in the second direction is opposite to the second side in the second direction; The second sidewall is formed with a second inclined surface (1351) close to one side of the second cover body (132), and the second inclined surface (1351) gradually inclines to the inside of the first cover body (131) in the direction from the first cover body (131) to the side close to the second cover body (132), and the second inclined surface (1351) is connected with the circumferential surface of the second cover body (132); a second recessed area (135) is formed between the second inclined surface (1351) and the circumferential surface of the second cover body (132), and at least part of the second recessed area (135) is located in the second light beam scanning range (125).

5. The optical distance measuring device as claimed in claim 4, characterized in that The size of the first light beam scanning range (124) is a first included angle, and the size of the second light beam scanning range (125) is a second included angle; The first included angle is greater than the second included angle, the depth of the first recessed area (134) in the second direction is greater than the depth of the second recessed area (135) in the second direction; or the first included angle is equal to the second included angle, the depth of the first recessed area (134) in the second direction is equal to the depth of the second recessed area (135) in the second direction; or the first included angle is less than the second included angle, the depth of the first recessed area (134) in the second direction is less than the depth of the second recessed area (135) in the second direction.

6. The optical distance measuring device as claimed in claim 4, characterized in that At least part of the circumferential sidewall of the second cover body (132) is a second light-transmitting part (137), and the second light-transmitting part (137) is located on the second side of the rotation axis in the second direction; the detection light beam in the second light beam scanning range (125) is configured to be emitted to the outside after passing through the second light-transmitting part (137); The second light-transmitting part (137) comprises a second opening (1371) formed on the circumferential sidewall of the second cover body (132), and the second opening (1371) is open; or the second light-transmitting part (137) comprises a second opening (1371) formed on the circumferential sidewall of the second cover body (132) and a second light-transmitting sheet arranged on the second opening (1371) and partially covering or completely sealing the second opening (1371); or the circumferential sidewall of the second cover body (132) is integrally formed as a light-transmitting structure, and the part of the second cover body (132) located on the second side of the rotation axis in the second direction is formed as the second light-transmitting part (137).

7. The optical distance measuring device as claimed in claim 1, characterized in that The first cover body (131) comprises a first top wall (1313) and a first circumferential sidewall (1311), the first circumferential sidewall (1311) surrounds the light engine module (110) along at least part of the outer contour of the light engine module (110), and the first top wall (1313) covers one side of the light engine module (110) in the extension direction of the rotation axis and is connected with the first circumferential sidewall (1311); and / or, The second cover body (132) comprises a second top wall (1322) and a second circumferential sidewall (1321), the second circumferential sidewall (1321) surrounds the rotating mirror module (120) along at least part of the outer contour of the area passed by the rotating mirror module (120) during rotation, and the second top wall (1322) covers one side of the rotating mirror module (120) in the extension direction of the rotation axis and is connected with the second circumferential sidewall (1321); and / or, The first cover body (131) and the second cover body (132) are integrally formed or connected in a split manner.

8. The optical distance measuring device according to any one of claims 1 to 7, characterized in that The optical scanning assembly (100) further comprises a base (160), and the light engine module (110) and the rotating mirror module (120) are both mounted on the base (160); The upper cover (130) further comprises a cover body (133), at least one of the first cover body (131) and the second cover body (132) is connected with the cover body (133); in the extension direction of the rotation axis, the projection of the cover body (133) covers the part of the base (160) which is not covered by the projection of the first cover body (131) and the projection of the second cover body (132).

9. The optical distance measuring device according to any one of claims 1 to 7, characterized in that In the direction perpendicular to the rotation axis, one side of the rotating mirror module (120) is formed with a reflecting surface (123), and the reflecting surface (123) coincides with the rotation axis; or in the direction perpendicular to the rotation axis, opposite sides of the rotating mirror module (120) are both formed with a reflecting surface (123); And / or, the axis of the detection light beam emitted by the light engine module (110) to the rotating mirror module (120) intersects and / or is perpendicular to the rotation axis.

10. The optical distance measuring device according to any one of claims 1 to 7, characterized in that The optical distance measuring device further comprises a lifting drive mechanism, which is connected with the optical scanning assembly (100) and is used to drive the optical scanning assembly (100) to move along the extension direction of the rotation axis.

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

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