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, and the optical ranging device comprises a base, an optical machine module, an optical machine support and a rotating mirror module. The rotating mirror module can rotate relative to the base, the light machine module is installed on the base through a light machine support, and the light machine module comprises a light emitter and a light receiver which are arranged at an interval in the first direction. The light machine support is provided with a middle light blocking part, the middle light blocking part is located between the light machine module and the rotating mirror module, and in the first direction, the middle light blocking part is located between the light emitter and the light receiver. The detection light beam emitted by the light emitter and the detection light beam reflected by the rotating mirror module to the light receiver are shielded by the middle light shielding part, so that the detection light beam emitted by the light emitter is effectively prevented from being directly reflected back to the light receiver by the rotating mirror module, and the crosstalk of receiving the detection light beam by the light receiver is reduced; the detection accuracy of the optical distance measuring device is improved.

Description

Technical Field

[0001] This application relates to the field of optical ranging technology, and more specifically, to an optical ranging device and a mobile robot. Background Technology

[0002] LiDAR, with its advantages of high precision, high resolution, and non-contact measurement, plays a vital role in fields such as autonomous driving and robotics. Semi-solid-state LiDAR, a common type, mainly consists of an optomechanical module and a rotating mirror module. The optomechanical module has a transmitter and a receiver. The transmitter emits a light beam towards the rotating mirror module, which reflects the beam back to the outside world. When the beam hits an obstacle, it is reflected back to the rotating mirror module, which then reflects the reflected beam back to the receiver to pinpoint the obstacle's location.

[0003] Currently, there is usually a certain gap between the traditional optomechanical module and the rotating mirror module. This can cause some of the light beam emitted from the transmitting tube to be reflected directly to the receiving tube after being emitted to the rotating mirror module. This affects the positioning results of the lidar on external obstacles and results in low detection accuracy of the lidar. Utility Model Content

[0004] The purpose of this application is to provide an optical ranging device and a mobile robot, aiming to solve the technical problem of low detection accuracy of lidar in the prior art.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide an optical ranging device, including a base, an optomechanical module, an optomechanical support, and a rotating mirror module;

[0006] The rotating mirror module is rotatable relative to the base;

[0007] The optical engine module is mounted on the base via the optical engine bracket. The optical engine module includes a light emitter and a light receiver spaced apart along a first direction. The light emitter emits a detection beam towards the rotating mirror module. The rotating mirror module reflects the detection beam from the light emitter to the external environment and reflects the detection beam after it has been reflected by the external environment back to the light receiver. The light receiver receives the detection beam from the rotating mirror module. The first direction is parallel to the rotation axis of the rotating mirror module.

[0008] The optical engine support is provided with a middle light-blocking part, which is located between the optical engine module and the rotating mirror module, and in the first direction, the middle light-blocking part is located between the light emitter and the light receiver.

[0009] In a possible design, the optical distance measuring device further includes an upper cover having a first accommodating cavity, a circumferential inner wall of the first accommodating cavity being arranged outside at least part of an outer contour of the optical engine support and the optical engine module, the optical engine module and the rotating mirror module are arranged apart from each other in a second direction, the intermediate light blocking part is located between the inner wall of the first accommodating cavity on one side in a third direction and the optical engine support, and the first direction, the second direction and the third direction are perpendicular to each other.

[0010] In a possible design, the rotating mirror module is rotatably installed on the base, the upper cover further has a second accommodating cavity, the first accommodating cavity and the second accommodating cavity are in communication, and a circumferential inner wall of the second accommodating cavity is arranged outside at least part of an area through which the rotating mirror module passes during rotation.

[0011] In a possible design, the optical engine module is provided with an optical engine light blocking part, in the first direction, the optical engine light blocking part is located between the light emitter and the light receiver, and the intermediate light blocking part is located on a side of the optical engine light blocking part close to the rotating mirror module; and / or,

[0012] The rotating mirror module is provided with an emission reflection surface, a receiving reflection surface and a rotating mirror light blocking part, the emission reflection surface is configured to reflect the detection light beam from the light emitter to an external environment, the receiving reflection surface is configured to reflect the detection light beam reflected by the external environment to the light receiver, and the rotating mirror light blocking part is located on a side of the intermediate light blocking part away from the optical engine module and between the emission reflection surface and the receiving reflection surface in the first direction.

[0013] In a possible design, when the optical engine module is provided with an optical engine light blocking part, one of the intermediate light blocking part and the optical engine light blocking part is formed with a first step structure on a side close to the other; the first step structure has a first step surface, and the first step surface faces or is away from the base;

[0014] and / or,

[0015] When the rotating mirror module is provided with a rotating mirror light blocking part, one of the intermediate light blocking part and the rotating mirror light blocking part is formed with a second step structure on a side close to the other; the second step structure has a second step surface, and the second step surface faces or is away from the base.

[0016] In a possible design, when the optical engine module is provided with an optical engine light-blocking portion, projections of the intermediate light-blocking portion and the optical engine light-blocking portion in the first direction are at least partially directly opposite each other, at least partially coincide with each other, or are spaced apart, and / or projections of the intermediate light-blocking portion and the optical engine light-blocking portion in a second direction are at least partially directly opposite each other, where the second direction is perpendicular to the first direction, and the optical engine module and the rotating mirror module are spaced apart along the second direction.

[0017] and / or,

[0018] When the rotating mirror module is provided with a rotating mirror light-blocking portion, projections of the intermediate light-blocking portion and the rotating mirror light-blocking portion in the first direction are at least partially directly opposite each other, at least partially coincide with each other, or are spaced apart, and / or projections of the intermediate light-blocking portion and the rotating mirror light-blocking portion in a second direction are at least partially directly opposite each other, where the second direction is perpendicular to the first direction, and the optical engine module and the rotating mirror module are spaced apart along the second direction.

[0019] In a possible design, the optical engine support and the intermediate light-blocking portion are in an integrated structure, or the optical engine support and the intermediate light-blocking portion are in a split structure and are fixedly connected.

[0020] and / or, the optical engine support and the base are in an integrated structure, or the optical engine support and the base are in a split structure and are fixedly connected.

[0021] In a possible design, the optical engine support includes a mounting plate and a reinforcing plate, the mounting plate and the reinforcing plate are both mounted on the base, the mounting plate and the reinforcing plate are connected and arranged at an angle, the optical engine module is mounted on the mounting plate, and the intermediate light-blocking portion is arranged on the mounting plate.

[0022] and / or, the optical engine support is further provided with a baffle support structure, and the baffle support structure is supported and connected to an upper surface or a lower surface of the intermediate light-blocking portion.

[0023] In a possible design, the optical distance measuring device further includes a main circuit board, the optical engine module and the base are spaced apart, the main circuit board is mounted on the base and located between the optical engine module and the base, and the main circuit board is electrically connected to the optical engine module.

[0024] In one possible design, the optical mechanism support includes a mounting plate and a reinforcing plate, the mounting plate and the reinforcing plate are both mounted on the base, the mounting plate is connected with the reinforcing plate and is arranged at an angle, the optical mechanism module is mounted on the mounting plate, and the intermediate light blocking part is arranged on the mounting plate.

[0025] The optical mechanism module further includes an optical mechanism circuit board, the optical mechanism circuit board is electrically connected with the light emitter and the light receiver respectively, a connecting line is connected to a side of the optical mechanism circuit board away from the mounting plate, and the connecting line is electrically connected with the main circuit board.

[0026] The application further provides a mobile robot including the optical ranging device provided in any of the technical solutions.

[0027] The optical ranging device provided in the application has the following advantages: compared with the prior art, the intermediate light blocking part is located between the optical mechanism module and the rotating mirror module, and is also located between the light emitter and the light receiver of the optical mechanism module, so that the light beam emitted by the light emitter and the light beam reflected by the rotating mirror module to the light receiver can be blocked by the intermediate light blocking part, the possibility that the light beam emitted by the light emitter is directly reflected by the rotating mirror module to the light receiver is effectively reduced, the detection accuracy of the optical ranging device is effectively improved, and the intermediate light blocking part is arranged by using the optical mechanism support on which the optical mechanism module is mounted, so that the optical ranging device has the advantage of compact structure.

[0028] The mobile robot provided in the application has the following advantages: compared with the prior art, the mobile robot includes the optical ranging device provided in any of the technical solutions, and thus has all the advantages of the optical ranging device, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

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

[0030] Figure 1 is a schematic diagram of the overall structure of the optical ranging device provided in an embodiment of the application;

[0031] Figure 2 is an exploded schematic diagram of the optical ranging device provided in an embodiment of the application;

[0032] Figure 3 is a schematic diagram of the structure of the optical mechanism module in the optical ranging device provided in an embodiment of the application;

[0033] Figure 4 is a half-section structure schematic diagram of an optical distance measuring device provided by an embodiment of the present application;

[0034] Figure 5 is a structure schematic diagram of a light machine support and base in an optical distance measuring device provided by an embodiment of the present application;

[0035] Figure 6 is a structure schematic diagram of an upper cover in an optical distance measuring device provided by an embodiment of the present application;

[0036] Figure 7 is Figure 4 is a partial enlarged schematic diagram at A in FIG. 8.

[0037] The label details involved in the above-mentioned drawings are as follows:

[0038] 100, base, 200, light machine module, 210, shell, 212, light machine light blocking part, 220, light emitter, 230, light receiver, 240, light machine circuit board, 241, connecting wire, 300, light machine support, 310, mounting plate, 320, reinforcing plate, 350, middle light blocking part, 351, first step structure, 3511, first step surface, 3512, first side surface, 3513, first avoiding area, 352, second step structure, 3521, second step surface, 3522, second side surface, 3523, second avoiding area, 400, rotating mirror module, 410, rotating mirror support, 411, bottom plate, 412, rotating mirror light blocking part, 413, top plate, 420, reflecting mirror, 500, upper cover, 510, first accommodating cavity, 520, second accommodating cavity, 600, main circuit board, 700, driving part. DETAILED DESCRIPTION

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

[0040] It should be noted that when an element is referred to as being "fixed to" or "disposed 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 directions or positions based on the directions or positions shown in the drawings, and are used for convenience of description and simplification of description only, and do not indicate or imply that the referred structures or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

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

[0043] In order to illustrate the technical solutions described in the application, the following will be described in detail in combination with specific drawings and examples.

[0044] As shown in Figures 1 to 4 An embodiment of the application provides an optical distance measuring device, which comprises a base 100, an optical machine module 200, an optical machine support 300 and a rotating mirror module 400. The rotating mirror module 400 is rotatable relative to the base 100. The optical machine module 200 is installed on the base 100 through the optical machine support 300, and the optical machine module 200 comprises a light emitter 220 and a light receiver 230 which are arranged at intervals along a first direction, and the first direction is parallel to the rotation axis of the rotating mirror module 400. The light emitter 220 is used for emitting a detection light beam to the rotating mirror module 400, the rotating mirror module 400 is used for reflecting the detection light beam from the light emitter 220 to an external environment and reflecting the detection light beam reflected by the external environment to the light receiver 230, and the light receiver 230 is used for receiving the detection light beam from the rotating mirror module 400. The optical machine support 300 is provided with an intermediate light blocking part 350, the intermediate light blocking part 350 is located between the optical machine module 200 and the rotating mirror module 400, and in the first direction, the intermediate light blocking part 350 is located between the light emitter 220 and the light receiver 230.

[0045] It should be noted that the light emitter 220 and the light receiver 230 are spaced apart along the first direction. Specifically, the light emitter 220 and the light receiver 230 are spaced apart in the first direction, but this does not mean that the light emitter 220 is necessarily opposite to one side of the light receiver 230 in the first direction. In some optional examples, the projections of the light emitter 220 and the light receiver 230 in the first direction are at least partially facing each other, or the projections of the light emitter 220 and the light receiver 230 in the first direction have at least partially overlapping boundaries, or the projections of the light emitter 220 and the light receiver 230 in the first direction are spaced apart.

[0046] During the detection process of the optical ranging device, the light emitter 220 emits a detection beam to the rotating mirror module 400. The detection beam is reflected by the rotating mirror module 400 to the external environment to scan the external environment. When the detection beam is reflected to an external obstacle, the detection beam is reflected back to the rotating mirror module 400 by the external obstacle. The rotating mirror module 400 then reflects the detection beam to the light receiver 230 so that the detection beam is received by the light receiver 230.

[0047] In this embodiment, the optical engine support 300 and the base 100 can be separate structures, with the optical engine support 300 and the base 100 fixedly connected. For example, the optical engine support 300 and the base 100 can be fixedly connected by snap-fit, adhesive, screw, or other methods, without limitation. Alternatively, the optical engine support 300 and the base 100 can also be an integral structure. In this embodiment, the optical engine support 300 and the rotating mirror module 400 can be installed on either side of the base 100. In one specific embodiment, both the optical engine support 300 and the rotating mirror module 400 are installed on one side of the base 100 in a first direction. The first direction can be vertical, horizontal, or any other direction; for ease of description, the following description will use a vertical first direction as an example. In one example, such as... Figure 4 As shown, the optical engine bracket 300 and the rotating mirror module 400 are both mounted on the upper side of the base 100, and the optical engine module 200 is mounted on the optical engine bracket 300. Therefore, the optical engine module 200 is located above the base 100.

[0048] In the embodiments of this application, such as Figure 5 As shown, the optical engine support 300 and the intermediate light-blocking part 350 can be an integral structure. For example, the optical engine support 300 and the intermediate light-blocking part 350 can be connected as an integral structure by integral molding. Alternatively, the optical engine support 300 and the intermediate light-blocking part 350 can be separate structures, and the optical engine support 300 and the intermediate light-blocking part 350 can be fixedly connected. For example, the optical engine support 300 and the intermediate light-blocking part 350 can be fixedly connected by snap-fit, screw, or adhesive. Optionally, the intermediate light-blocking part 350 can be a plate-like structure, a shell-like structure, or other irregularly shaped structures.

[0049] In the embodiment of the present application, the optical engine module 200 and the optical engine support 300 can be connected by any means such as screwing, clamping or interference fit.

[0050] The optical ranging device of the embodiment of the present application, as shown in Figures 1 to 4 The intermediate light blocking part 350 is located between the optical engine module 200 and the rotating mirror module 400, and also located between the light emitter 220 and the light receiver 230 of the optical engine module 200. In this way, the detection light beam emitted by the light emitter 220 and the detection light beam reflected by the rotating mirror module 400 to the light receiver 230 can be blocked by the intermediate light blocking part 350, effectively reducing the possibility of the detection light beam emitted by the light emitter 220 being directly reflected by the rotating mirror module 400 back to the light receiver 230, thereby reducing the crosstalk of the detection light beam received by the light receiver 230, improving the detection accuracy of the optical ranging device. The intermediate light blocking part 350 needs to be arranged at a position between the optical engine module 200 and the rotating mirror module 400, and between the light emitter 220 and the light receiver 230. The distance between the optical engine support 300 for mounting the optical engine module 200 is small. Therefore, the intermediate light blocking part 350 is arranged by using the optical engine support 300, which has the advantage of compact structure.

[0051] In a possible design, as shown in Figure 2 , Figure 4 and Figure 6 The optical ranging device further includes an upper cover 500, the upper cover 500 has a first accommodating cavity 510, the circumferential inner wall of the first accommodating cavity 510 is arranged outside the optical engine support 300 and the optical engine module 200 along at least part of the outer contour formed by the optical engine support 300 and the optical engine module 200, the optical engine module 200 and the rotating mirror module 400 are arranged in a second direction, the intermediate light blocking part 350 is located between the inner wall of the first accommodating cavity 510 on one side in a third direction and the optical engine support 300, and the first direction, the second direction and the third direction are arranged perpendicular to each other.

[0052] It is worth mentioning that the at least part of the outer contour of the optical machine support 300 and the optical machine module 200, specifically referring to the at least part of the outer contour of the overall structure formed by the optical machine module 200 and the optical machine support 300 after the optical machine module 200 is installed on the optical machine support 300. The circumferential side wall of the first accommodating cavity 510 is arranged around the at least part of the outer contour of the optical machine support 300 and the optical machine module 200. It can be understood that the contour shape surrounded by the circumferential side wall of the first accommodating cavity 510 is substantially the same as or even completely the same as the at least part of the outer contour of the overall structure formed by the optical machine support 300 and the optical machine module 200, and the size of the contour surrounded by the circumferential side wall of the first accommodating cavity 510 is slightly larger than the size of the at least part of the outer contour of the overall structure formed by the optical machine support 300 and the optical machine module 200.

[0053] Optionally, the contour shape surrounded by the circumferential side wall of the first accommodating cavity 510 can be a full-enclosing shape or a half-enclosing shape. In some examples, the overall structure formed by the optical machine support 300 and the optical machine module 200 is a cuboid. The contour shape surrounded by the circumferential side wall of the first accommodating cavity 510 can be a full-enclosing rectangle, and the circumferential side wall of the first accommodating cavity 510 tightly surrounds the outer periphery of the overall structure formed by the optical machine support 300 and the optical machine module 200. The side of the circumferential side wall of the first accommodating cavity 510 close to the rotating mirror module 400 is provided with a first communication hole and a second communication hole, the first communication hole is opposite to the light emitter 220, and the second communication hole is opposite to the light receiver 230, so as to facilitate the light emitter 220 to emit a detection light beam to the rotating mirror module 400 and the light receiver 230 to receive the detection light beam. Alternatively, as shown in Figure 2 、 Figure 4 and Figure 6 , the contour shape surrounded by the circumferential side wall of the first accommodating cavity 510 can also be a half-enclosing "D" shape, and the circumferential side wall of the first accommodating cavity 510 tightly surrounds part of the outer periphery of the overall structure formed by the optical machine support 300 and the optical machine module 200. The circumferential side wall of the first accommodating cavity 510 is formed with a first notch, and the first notch faces the rotating mirror module 400, so as to facilitate the light emitter 220 to emit a detection light beam to the rotating mirror module 400 and the light receiver 230 to receive the detection light beam.

[0054] According to the above setting mode, the upper cover 500 is arranged to protect the light machine module 200. Since the circumferential inner wall of the first accommodating cavity 510 is arranged along at least part of the outer contour of the light machine support 300 and the light machine module 200, that is, the circumferential inner wall of the first accommodating cavity 510 tightly wraps at least part of the outer circumference of the whole structure composed of the light machine support 300 and the light machine module 200, only a small intermediate light blocking part 350 needs to be arranged between the inner wall of the first accommodating cavity 510 on one side in the third direction and the light machine support 300, so as to block the light beam emitted by the light emitter 220 and the light beam reflected by the rotating mirror module 400 to the light receiver 230. In addition, the space occupied by the upper cover 500 can be reduced as much as possible, which is beneficial to the miniaturization of the optical distance measuring device.

[0055] In the embodiment of the present application, as shown in Figure 2 and Figure 4 , the rotating mirror module 400 is rotatably installed on the base 100. The rotating mirror module 400 includes a reflecting mirror 420, and the light emitter 220 specifically emits a detection light beam to the reflecting mirror 420, and the reflecting mirror 420 is used to reflect the detection light beam. During the rotation of the rotating mirror module 400 relative to the base 100, that is, during the rotation of the reflecting mirror 420 relative to the base 100, the included angle between the detection light beam emitted by the light emitter 220 to the rotating mirror module 400 and the reflecting mirror 420 changes, so that the reflecting mirror 420 can reflect the detection light beam to different directions, so as to scan the area within a certain range of the external environment by the detection light beam.

[0056] Optionally, as shown in Figure 2 , the optical distance measuring device further includes a driving part 700, the driving part 700 is installed on the base 100 and connected with the rotating mirror module 400, and the driving part 700 is used to drive the rotating mirror module 400 to rotate. The driving part 700 can be a rotary motor or other structure that can drive the rotating mirror module 400 to rotate, which is not limited here.

[0057] In a possible design, as shown in Figure 2 , Figure 4 and Figure 6As shown, the upper cover 500 also has a second accommodating cavity 520, and the first accommodating cavity 510 and the second accommodating cavity 520 are communicated. The circumferential inner wall of the second accommodating cavity 520 is arranged outside the turning mirror module 400 along at least part of the outer contour of the area passed by the turning mirror module 400 during rotation, that is, the contour shape surrounded by the circumferential inner wall of the second accommodating cavity 520 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 turning mirror module 400 during rotation, and the contour size surrounded by the circumferential inner wall of the second accommodating cavity 520 is slightly larger than the size of at least part of the outer contour of the area passed by the turning mirror module 400 during rotation, so that the circumferential inner wall of the second accommodating cavity 520 is closely arranged around at least part of the outer circumference of the area passed by the turning mirror module 400 during rotation. In this way, the turning mirror module 400 is protected, and the space occupied by the upper cover 500 is minimized, which is beneficial to the miniaturization of the optical distance measuring device.

[0058] Optionally, the contour shape surrounded by the circumferential inner wall of the second accommodating cavity 520 can be a full-enclosing shape or a half-enclosing shape. In some examples, the shape of the area passed by the turning mirror module 400 during rotation is cylindrical. The contour shape surrounded by the circumferential inner wall of the second accommodating cavity 520 can be a full-enclosing circle, the circumferential inner wall of the second accommodating cavity 520 surrounds the outer circumference of the area passed by the turning mirror module 400 during rotation, and the side of the circumferential inner wall of the second accommodating cavity 520 close to the light machine module 200 is provided with a third communication hole and a fourth communication hole; when the contour shape surrounded by the circumferential inner wall of the first accommodating cavity 510 is a full-enclosing rectangle, the first communication hole is opposite to the third communication hole, and the second communication hole is opposite to the fourth communication hole; when the contour shape surrounded by the circumferential inner wall of the first accommodating cavity 510 is a half-enclosing "Fang" character shape, the third communication hole and the fourth communication hole are both opposite to the first notch. Alternatively, as shown, the contour shape surrounded by the circumferential inner wall of the second accommodating cavity 520 can also be a half-enclosing "C" character shape, and the circumferential inner wall of the second accommodating cavity 520 is arranged to form a second notch; when the contour shape surrounded by the circumferential inner wall of the first accommodating cavity 510 is a full-enclosing rectangle, the second notch is opposite to the first communication hole and the second communication hole, respectively; when the contour shape surrounded by the circumferential inner wall of the first accommodating cavity 510 is a half-enclosing "Fang" character shape, the second notch is opposite to the first notch. Figure 6

[0059] In a possible design, as shown in Figure 4 and Figure 7 ​As shown, the light machine module 200 is provided with a light machine light blocking part 212, in the first direction, the light machine light blocking part 212 is located between the light emitter 220 and the light receiver 230, and the intermediate light blocking part 350 is located on the side of the light machine light blocking part 212 close to the rotating mirror module 400. By setting the light machine light blocking part 212, the shielding effect of the detection light beam between the light emitter 220 and the light receiver 230 can be further improved, and the crosstalk of the detection light beam received by the light receiver 230 is further reduced, thereby further improving the detection accuracy of the optical distance measuring device. For example, in the case that the intermediate light blocking part 350 cannot be set to be wider due to the requirement of structure forming, the requirement of convenient installation, etc., the gap between the light machine module 200 and the intermediate light blocking part 350 can be shielded. Optionally, the light machine light blocking part 212 can be a plate structure, a shell structure or other irregular shape structure, etc.

[0060] In a possible design, as shown in Figure 4 and Figure 7 As shown, the rotating mirror module 400 is provided with a transmitting reflection surface, a receiving reflection surface and a rotating mirror light blocking part 412, the transmitting reflection surface is used to reflect the detection light beam from the light emitter 220 to the external environment, the receiving reflection surface is used to reflect the detection light beam reflected by the external environment to the light receiver 230, the rotating mirror light blocking part 412 is located on the side of the intermediate light blocking part 350 away from the light machine module 200, and the rotating mirror light blocking part 412 is located between the transmitting reflection surface and the receiving reflection surface in the first direction. By setting the rotating mirror light blocking part 412, the detection light beam emitted by the light emitter 220 can be further prevented from being directly reflected back to the light receiver 230 by the rotating mirror module 400, thereby also reducing the crosstalk of the detection light beam received by the light receiver 230, to improve the detection accuracy of the optical distance measuring device. For example, in the case that the intermediate light blocking part 350 cannot be set to be wider due to the requirement of structure forming, the requirement of convenient installation, the requirement of motion avoidance, etc., the gap between the transmitting reflection surface and the receiving reflection surface of the rotating mirror module 400 and the intermediate light blocking part 350 can be shielded. Optionally, the rotating mirror light blocking part 412 can be a plate structure, a shell structure or other irregular shape structure, etc.

[0061] It is worth mentioning that when the light machine module 200 is provided with the light machine light blocking part 212, the rotating mirror module 400 can be provided with the rotating mirror light blocking part 412 or can not be provided with the rotating mirror light blocking part 412; similarly, when the rotating mirror module 400 is provided with the rotating mirror light blocking part 412, the light machine module 200 can be provided with the light machine light blocking part 212 or can not be provided with the light machine light blocking part 212. In an example, the light machine module 200 is provided with the light machine light blocking part 212, the rotating mirror module 400 is provided with the rotating mirror light blocking part 412, the light machine light blocking part 212 is located on the side of the intermediate light blocking part 350 close to the light machine module 200, and the rotating mirror light blocking part 412 is located on the side of the intermediate light blocking part 350 close to the rotating mirror module 400.

[0062] In a specific embodiment, as shown in Figure 2 and Figure 4 The light machine module 200 further includes a housing 210, and the light emitter 220 and the light receiver 230 are both mounted in the housing 210, and the housing 210 is formed with a light emitting port and a light receiving port. The light emitting port is opposite to the light emitter 220, so that the detection light beam emitted by the light emitter 220 can be emitted to the rotating mirror module 400 through the light emitting port; the light receiving port is opposite to the light receiver 230, so that the detection light beam reflected by the external obstacle and returned to the rotating mirror module 400 can pass through the light receiving port and be received by the light receiver 230. As shown in Figure 4 and Figure 7 The light machine light blocking part 212 is arranged on the outer surface of the housing 210, and the light machine light blocking part 212 is located between the light emitting port and the light receiving port, and the intermediate light blocking part 350 is located on the side of the light machine light blocking part 212 away from the light machine module 200.

[0063] In a specific embodiment, as shown in Figure 2 、 Figure 4 and Figure 7As shown, the rotating mirror module 400 also includes a rotating mirror bracket 410, a reflector 420 mounted on the rotating mirror bracket 410, and a rotating mirror light-blocking part 412 formed on the rotating mirror bracket 410. Specifically, the rotating mirror bracket 410 includes a top plate 413, a rotating mirror light-blocking part 412, and a bottom plate 411 arranged vertically at intervals. The top plate 413 is located above the rotating mirror light-blocking part 412, and the bottom plate 411 is located below the rotating mirror light-blocking part 412. The bottom plate 411, the rotating mirror light-blocking part 412, and the top plate 413 are connected by a connecting rod. A first reflection area is formed between the top plate 413 and the rotating mirror light-blocking part 412, and a second reflection area is formed between the rotating mirror light-blocking part 412 and the bottom plate 411. In one example, the light emitter 220 is located above the light receiver 230, and the light emitter 220 is opposite to the first reflection area, while the light receiver 230 is opposite to the second reflection area. The emitting and receiving reflective surfaces of the rotating mirror module 400 are both disposed on the reflector 420. The emitting reflective surface on the reflector 420 is opposite to the first reflective area to reflect the detection beam emitted by the light emitter 220. The receiving reflective surface on the reflector 420 is opposite to the second reflective area to reflect the detection beam reflected back by the external obstacle to the light receiver 230.

[0064] In one possible design, such as Figure 7 As shown, when the optomechanical module 200 is provided with an optomechanical light-blocking part 212, a first step structure 351 is formed on the side of one of the intermediate light-blocking part 350 and the optomechanical light-blocking part 212 closer to the other. The first step structure 351 has a first step surface 3511, which faces or faces away from the base 100. In this arrangement, by providing the first step structure 351, the path through which light can pass between the intermediate light-blocking part 350 and the optomechanical light-blocking part 212 becomes more complex, making it more difficult for the detection beam to pass between the intermediate light-blocking part 350 and the optomechanical light-blocking part 212, thereby improving the detection accuracy of the optical ranging device.

[0065] In one example, the projections of the intermediate light-blocking part 350 and the optomechanical light-blocking part 212 in the first direction are at least partially aligned, which improves the structural compactness of the optical ranging device. In another example, the projections of the intermediate light-blocking part 350 and the optomechanical light-blocking part 212 in the first direction at least partially overlap. For example, the side of the intermediate light-blocking part 350 near the optomechanical light-blocking part 212 is flush with the side of the optomechanical light-blocking part 212 near the intermediate light-blocking part 350. This arrangement allows for a relatively large installation and operation space for the optomechanical module 200, facilitating installation and maximizing structural compactness while ensuring easy installation. In yet another example, the projections of the intermediate light-blocking part 350 and the optomechanical light-blocking part 212 in the first direction are spaced apart. This arrangement further increases the installation and operation space for the optomechanical module 200, making installation even more convenient.

[0066] In some embodiments, the intermediate light-blocking portion 350 and the optomechanical light-blocking portion 212 are at least partially aligned in the projection in the second direction. This arrangement helps to reduce the possibility of the detection beam from the first reflection region being emitted to the light receiver 230 or the detection beam from the second reflection region being emitted to the light emitter 220.

[0067] In one embodiment, a first step structure 351 is formed on the side of the intermediate light-blocking portion 350 near the optical-mechanical light-blocking portion 212. The first step structure 351 has a first step surface 3511 and a first side surface 3512. The first step surface 3511 is perpendicular to the first direction, and the first side surface 3512 is parallel to the first direction. The first side surface 3512 connects to the side of the first step surface 3511 away from the optical-mechanical light-blocking portion 212. The first step surface 3511 and the first side surface 3512 enclose a first clearance area 3513. At least a portion of the structure of the optical-mechanical light-blocking portion 212 can extend into the first clearance area 3513, so that at least a portion of the projection of the intermediate light-blocking portion 350 and at least a portion of the projection of the optical-mechanical light-blocking portion 212 coincide on the projection plane perpendicular to the first direction. When the first step structure 351 faces the base 100, the first clearance area 3513 is located on the side of the first step surface 3511 facing the base 100; when the first step structure 351 faces away from the base 100, the first clearance area 3513 is located on the side of the first step surface 3511 facing away from the base 100.

[0068] In one possible design, such as Figure 7 As shown, when the rotating mirror module 400 is provided with a rotating mirror light-blocking part 412, a second step structure 352 is formed on the side of one of the intermediate light-blocking part 350 and the rotating mirror light-blocking part 412 closer to the other. The second step structure 352 has a second step surface 3521, which faces or faces away from the base. In this arrangement, by providing the second step structure 352, the path through which light can pass between the intermediate light-blocking part 350 and the rotating mirror light-blocking part 412 becomes more complex, making it more difficult for the detection beam to pass between the intermediate light-blocking part 350 and the rotating mirror light-blocking part 412, thereby improving the detection accuracy of the optical ranging device.

[0069] In an example, the projection of the intermediate light blocking part 350 and the rotating mirror light blocking part 412 in the first direction is at least partially directly opposite, which can improve the compactness of the optical distance measuring device. In another example, the projection of the intermediate light blocking part 350 and the rotating mirror light blocking part 412 in the first direction is at least partially bordering, for example, the side of the intermediate light blocking part 350 close to the rotating mirror light blocking part 412 is arranged flush with the side of the rotating mirror light blocking part 412 close to the intermediate light blocking part 350. In this way, the installation operation space of the rotating mirror module 400 is relatively large, which facilitates installation, and maximizes the compactness under the premise of facilitating installation. In yet another example, the projection of the intermediate light blocking part 350 and the rotating mirror light blocking part 412 in the first direction is spaced apart, which further increases the installation operation space of the rotating mirror module 400, making installation more convenient.

[0070] In some embodiments, the projection of the intermediate light blocking part 350 and the rotating mirror light blocking part 412 in the second direction is at least partially directly opposite. In this way, it is beneficial to reduce the possibility of the detection light beam of the first reflection area being emitted to the light receiver 230 or the detection light beam of the second reflection area being emitted to the light emitter 220.

[0071] In an example, the side of the intermediate light blocking part 350 close to the rotating mirror light blocking part 412 is formed with a second stepped structure 352, the second stepped structure 352 has a second stepped surface 3521 and a second side surface 3522, the second stepped surface 3521 is arranged perpendicular to the second direction, the second side surface 3522 is arranged parallel to the second direction, and the second side surface 3522 is connected to the side of the second stepped surface 3521 away from the rotating mirror light blocking part 412. The second stepped surface 3521 and the second side surface 3522 form a second avoiding area 3523, and at least part of the structure of the rotating mirror light blocking part 412 can extend into the second avoiding area 3523, so that on the projection plane perpendicular to the second direction, at least part of the projection of the intermediate light blocking part 350 and at least part of the projection of the rotating mirror light blocking part 412 coincide. When the second stepped structure 352 faces the base 100, the second avoiding area 3523 is located on the side of the second stepped surface 3521 facing the base 100; when the second stepped structure 352 is away from the base 100, the second avoiding area 3523 is located on the side of the second stepped surface 3521 away from the base 100.

[0072] It is worth mentioning that when the first step structure 351 is formed on the intermediate light blocking part 350 or the light machine light blocking part 212, the second step structure 352 can be formed on the intermediate light blocking part 350 or the rotating mirror light blocking part 412, or the second step structure 352 can not be formed. Similarly, when the second step structure 352 is formed on the intermediate light blocking part 350 or the rotating mirror light blocking part 412, the first step structure 351 can be formed on the intermediate light blocking part 350 and the light machine light blocking part 212, or the first step structure 351 can not be formed. In an example, as shown in Figure 4 and Figure 7 In the second direction, the side of the intermediate light blocking part 350 close to the light machine module 200 is formed with the first step structure 351, and the side of the intermediate light blocking part 350 close to the rotating mirror module 400 is formed with the second step structure 352.

[0073] In a possible design, as shown in Figure 2 and Figure 5 The light machine support 300 includes a mounting plate 310 and a reinforcing plate 320, both of which are mounted on the base 100. The mounting plate 310 is connected to the reinforcing plate 320 and is arranged at an angle. The light machine module 200 is mounted on the mounting plate 310, and the intermediate light blocking part 350 is arranged on the mounting plate 310. Since the reinforcing plate 320 is arranged at an angle with the mounting plate 310, and the reinforcing plate 320 is connected to the base 100 and the mounting plate 310 respectively, the reinforcing plate 320 plays a supporting role for the mounting plate 310, thereby improving the installation stability of the light machine module 200.

[0074] Optionally, the angle between the mounting plate 310 and the reinforcing plate 320 can be equal to 75 degrees, 83 degrees, 90 degrees, or 120 degrees, etc. In an example, the mounting plate 310 and the reinforcing plate 320 are arranged at an angle of 90 degrees. Optionally, the mounting plate 310 is arranged parallel to the second direction, the reinforcing plate 320 is arranged parallel to the third direction, the reinforcing plate 320 is connected to one side of the mounting plate 310 in the third direction, and the reinforcing plate 320 is located at the end of the mounting plate 310 away from the rotating mirror module 400. The light machine module 200 is mounted on the mounting plate 310 and located at the side of the reinforcing plate 320 close to the rotating mirror module 400.

[0075] In a possible design, the light machine support 300 is further provided with a baffle support structure which supports the upper surface or the lower surface of the intermediate light blocking part 350, so as to improve the structural stability of the intermediate light blocking part 350. Optionally, the baffle support structure can be a columnar, plate-like or other irregular shape structure. In an embodiment, the baffle support structure is a prism structure.

[0076] In a specific example, the intermediate light blocking part 350 is arranged on the mounting plate 310 of the light machine support 300, one end of the intermediate light blocking part 350 is connected with the mounting plate 310, and the other end extends away from the mounting plate 310. In a possible design, a support structure is further arranged on the mounting plate 310, and the support structure is supported on the lower surface of the intermediate light blocking part 350.

[0077] In a possible design, as shown in Figure 2 and Figure 4 , the optical distance measuring device further includes a main circuit board 600, the light machine module 200 is arranged spaced apart from the base 100, the main circuit board 600 is mounted on the base 100, and the main circuit board 600 is located between the light machine module 200 and the base 100, and the main circuit board 600 is electrically connected with the light machine module 200. In the embodiment of the present application, the light machine support 300 is arranged, so that the light machine module 200 can be arranged spaced apart from the base 100, so as to facilitate mounting of the main circuit board 600 on the base 100, and to facilitate electrical connection between the main circuit board 600 and the light machine module 200. The main circuit board 600 can be connected with a controller, the controller controls the light emitter 220 in the light machine module 200 to emit a detection light beam, and the controller can also analyze the detection light beam received by the light receiver 230 to calculate the specific position of the external obstacle. Optionally, the main circuit board 600 is further connected with a power supply to supply power to the light machine module 200 through the main circuit board 600. Optionally, the main circuit board 600 can also be electrically connected with the driving part 700 to control the driving part 700 to drive the rotation of the mirror module 400.

[0078] In a possible design, as shown in Figure 2 , the light machine module 200 further includes a light machine circuit board 240, the light machine circuit board 240 is electrically connected with the light emitter 220 and the light receiver 230 respectively, and the side of the light machine circuit board 240 away from the mounting plate 310 is connected with a connecting line 241, and the connecting line 241 is electrically connected with the main circuit board 600. By arranging the connecting line 241 on the side of the light machine circuit board 240 away from the mounting plate 310, when the light machine module 200 is mounted on the light machine support 300, the connecting line 241 can extend from the side of the light machine module 200 away from the mounting plate 310, so as to facilitate electrical connection between the connecting line and the main circuit board 600. In this embodiment, the controller can be electrically connected with the light machine circuit board 240, or can be electrically connected with the main circuit board 600.

[0079] Another embodiment of the present application provides a mobile robot including the optical distance measuring device provided by any of the above embodiments. Since the mobile robot provided by the embodiment of the present application includes the optical distance measuring device provided by any of the above embodiments, it at least has all the beneficial effects of the optical distance measuring device, which will not be described here.

[0080] In some embodiments, the mobile robot comprises a body having an inner cavity, and the optical distance measuring device is installed in the inner cavity. Specifically, the base 100 in the optical distance measuring device is connected with the inner cavity. A light-transmitting structure is formed on the inner wall of the inner cavity, and the light-transmitting structure is made of a light-transmitting material such as glass or acrylic. The light-transmitting structure is arranged to allow the detection light beam to pass through, so that the rotating mirror module 400 can reflect the detection light beam to the external environment, and the detection light beam can be reflected back to the rotating mirror module 400 by the external obstacles.

[0081] The above only describes optional embodiments of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, and improvements 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 ranging device comprises a base (100), an optical machine module (200), an optical machine support (300), and a rotating mirror module (400); The rotating mirror module (400) is rotatable relative to the base (100); The optical machine module (200) is installed on the base (100) through the optical machine support (300), and the optical machine module (200) comprises light emitters (220) and light receivers (230) arranged at intervals along a first direction; the light emitters (220) are used for emitting detection beams to the rotating mirror module (400), the rotating mirror module (400) is used for reflecting the detection beams from the light emitters (220) to the external environment and reflecting the detection beams reflected by the external environment to the light receivers (230), and the light receivers (230) are used for receiving the detection beams from the rotating mirror module (400); wherein the first direction is parallel to the rotation axis of the rotating mirror module (400); The optical machine support (300) is provided with an intermediate light blocking part (350), the intermediate light blocking part (350) is located between the optical machine module (200) and the rotating mirror module (400), and in the first direction, the intermediate light blocking part (350) is located between the light emitters (220) and the light receivers (230).

2. The optical distance measuring device as claimed in claim 1, characterized in that The optical ranging device further comprises an upper cover (500), the upper cover (500) has a first accommodating cavity (510), the inner wall of the periphery of the first accommodating cavity (510) is arranged outside the optical machine support (300) and the optical machine module (200) along at least part of the outer contour formed by the optical machine support (300) and the optical machine module (200), the optical machine module (200) and the rotating mirror module (400) are arranged at intervals along a second direction, the intermediate light blocking part (350) is located between the inner wall on one side of the first accommodating cavity (510) in a third direction and the optical machine support (300), and the first direction, the second direction and the third direction are perpendicular to each other.

3. The optical distance measuring device as claimed in claim 2, characterized in that The rotating mirror module (400) is rotatably installed on the base (100), the upper cover (500) further has a second accommodating cavity (520), the first accommodating cavity (510) and the second accommodating cavity (520) are communicated, and the inner wall of the periphery of the second accommodating cavity (520) is arranged outside the rotating mirror module (400) along at least part of the outer contour of the area passed during the rotation of the rotating mirror module (400).

4. The optical distance measuring device as claimed in claim 1, characterized in that The optical machine module (200) is provided with an optical machine light blocking part (212), in the first direction, the optical machine light blocking part (212) is located between the light emitters (220) and the light receivers (230), and the intermediate light blocking part (350) is located on the side of the optical machine light blocking part (212) close to the rotating mirror module (400); and / or, The rotating mirror module (400) is provided with a transmitting reflection surface, a receiving reflection surface and a rotating mirror light blocking part (412). The transmitting reflection surface is used for reflecting the detection light beam from the light transmitter (220) to the external environment. The receiving reflection surface is used for reflecting the detection light beam reflected by the external environment to the light receiver (230). The rotating mirror light blocking part (412) is located on the side of the intermediate light blocking part (350) away from the light machine module (200) and between the transmitting reflection surface and the receiving reflection surface in the first direction.

5. The optical distance measuring device as claimed in claim 4, characterized in that When the light machine module (200) is provided with a light machine light blocking part (212), one of the intermediate light blocking part (350) and the light machine light blocking part (212) is formed with a first step structure (351) on the side close to the other; the first step structure (351) has a first step surface (3511) facing or away from the base (100); and / or, When the rotating mirror module (400) is provided with a rotating mirror light blocking part (412), one of the intermediate light blocking part (350) and the rotating mirror light blocking part (412) is formed with a second step structure (352) on the side close to the other; the second step structure (352) has a second step surface (3521) facing or away from the base (100).

6. The optical distance measuring device as claimed in claim 4, characterized in that When the light machine module (200) is provided with a light machine light blocking part (212), the projection of the intermediate light blocking part (350) and the light machine light blocking part (212) in the first direction is at least partially arranged opposite, or at least partially boundary coincides, or is arranged in interval, and / or, the projection of the intermediate light blocking part (350) and the light machine light blocking part (212) in the second direction is at least partially arranged opposite, wherein the second direction is perpendicular to the first direction, and the light machine module (200) and the rotating mirror module (400) are arranged in interval along the second direction; and / or, When the rotating mirror module (400) is provided with a rotating mirror light blocking part (412), the projection of the intermediate light blocking part (350) and the rotating mirror light blocking part (412) in the first direction is at least partially arranged opposite, or at least partially boundary coincides, or is arranged in interval, and / or, the projection of the intermediate light blocking part (350) and the rotating mirror light blocking part (412) in the second direction is at least partially arranged opposite, wherein the second direction is perpendicular to the first direction, and the light machine module (200) and the rotating mirror module (400) are arranged in interval along the second direction.

7. The optical distance measuring device as claimed in claim 1, characterized in that The light machine support (300) and the intermediate light blocking part (350) are an integral structure; or, the light machine support (300) and the intermediate light blocking part (350) are a split structure, and the light machine support (300) and the intermediate light blocking part (350) are fixedly connected; And / or, the optical machine support (300) is an integral structure with the base (100); or, the optical machine support (300) is a split structure with the base (100), and the optical machine support (300) is fixedly connected with the base (100).

8. The optical distance measuring device as claimed in claim 1, characterized in that The optical machine support (300) comprises a mounting plate (310) and a reinforcing plate (320), the mounting plate (310) and the reinforcing plate (320) are both mounted on the base (100), the mounting plate (310) is connected with the reinforcing plate (320) and is arranged at an included angle, the optical machine module (200) is mounted on the mounting plate (310), and the intermediate light blocking part (350) is arranged on the mounting plate (310); And / or, the optical machine support (300) is further provided with a baffle support structure, the baffle support structure is supported and connected to the upper surface or the lower surface of the intermediate light blocking part (350).

9. The optical distance measuring device as claimed in claim 1, characterized in that The optical distance measuring device further comprises a main circuit board (600), the optical machine module (200) is arranged at intervals with the base (100), the main circuit board (600) is mounted on the base (100), and the main circuit board (600) is located between the optical machine module (200) and the base (100), and the main circuit board (600) is electrically connected with the optical machine module (200).

10. The optical distance measuring device as claimed in claim 9, characterized in that The optical machine support (300) comprises a mounting plate (310) and a reinforcing plate (320), the mounting plate (310) and the reinforcing plate (320) are both mounted on the base (100), the mounting plate (310) is connected with the reinforcing plate (320) and is arranged at an included angle, the optical machine module (200) is mounted on the mounting plate (310), and the intermediate light blocking part (350) is arranged on the mounting plate (310); The optical machine module (200) further comprises an optical machine circuit board (240), the optical machine circuit board (240) is electrically connected with the light emitter (220) and the light receiver (230) respectively, a connecting line (241) is connected to the side, away from the mounting plate (310), of the optical machine circuit board (240), and the connecting line (241) is electrically connected with the main circuit board (600).

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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