Optical distance measuring device and mobile robot

Abstract

The utility model is suitable for the technical field of optical distance measuring devices, and provides an optical distance measuring device and a mobile robotic.The optical distance measuring device comprises a shell part, an optical distance measuring part and a control part, and the shell part comprises a base; the optical distance measuring part comprises a semi-solid distance measuring main body, the semi-solid distance measuring main body comprises an optical machine receiving and transmitting assembly and a rotating mirror assembly, the rotating mirror assembly is rotatably mounted on the base, and the semi-solid distance measuring main body and the base are arranged at an interval in the first direction, so that an interval space is formed between the semi-solid distance measuring main body and the base; wherein the first direction is parallel to the rotation axis of the rotating mirror assembly; the control part is electrically connected with the optical ranging part and at least partially located in the interval space. According to the optical distance measuring device, the situation that the overall size of the optical distance measuring device is increased due to the fact that the control part independently occupies extra space is avoided, and the internal structure of the optical distance measuring device is more compact.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of optical distance measuring devices, and more particularly to an optical distance measuring device and a mobile robot. BACKGROUND

[0002] A semi-solid laser radar is a common optical distance measuring device. Its working principle is to emit laser light through a laser emission module, change the direction of the laser light through a scanning module, irradiate the target object, and then the reflected laser light is received by a laser receiving module. Finally, the received signal is processed by a signal processing module to obtain the distance, speed, direction, etc. of the target object. The semi-solid laser radar is mainly composed of a laser emission module, a scanning module, a laser receiving module and a signal processing module. These structures occupy a certain space in the height direction and width direction of the semi-solid laser radar.

[0003] At present, terminal products such as cleaning robots, etc. that apply semi-solid laser radars have higher requirements for the miniaturization of semi-solid laser radars. CONTENT OF THE INVENTION

[0004] The purpose of the embodiments of the present application is to provide an optical distance measuring device and a mobile robot, aiming to solve the technical problem of large size of the semi-solid laser radar in the prior art.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, an optical distance measuring device is provided, which comprises a shell part, an optical distance measuring part and a control part. The shell part comprises a base. The optical distance measuring part comprises a semi-solid distance measuring main body, which comprises a light machine transceiver assembly and a rotating mirror assembly. The rotating mirror assembly is rotatably mounted on the base. The rotating mirror assembly is used to reflect the probe light beam emitted by the light machine transceiver assembly to the external environment, and reflect the probe light beam reflected by the external environment to the light machine transceiver assembly. The semi-solid distance measuring main body is spaced apart from the base in a first direction to form a spacing space between the semi-solid distance measuring main body and the base. The first direction is parallel to the rotating axis of the rotating mirror assembly. The control part is electrically connected with the optical distance measuring part, and the control part is at least partially located in the spacing space.

[0006] Optionally, the spacing space comprises a first spacing space, and the rotating mirror assembly is spaced apart from the base in the first direction to form the first spacing space. The control part comprises a grating encoding assembly, and the grating encoding assembly is at least partially located in the first spacing space. The grating encoding assembly comprises a grating encoding disc and a grating detection unit. The grating detection unit is used to detect the relative rotation angle or relative rotation speed between the grating detection unit and the grating encoding disc. The grating encoding disc is fixedly arranged opposite to the rotating mirror assembly, and the grating detection unit is fixedly arranged opposite to the base.

[0007] Optionally, the rotating mirror assembly comprises a rotating mirror support rotatably mounted on the base and provided with a reflecting surface for reflecting the probe light beam; and the grating encoder disk is integrally formed with or fixedly connected to a first end of the rotating mirror support, wherein the first end of the rotating mirror support is an end of the rotating mirror support close to the base, and the first end of the rotating mirror support is spaced apart from the base in the first direction to form a first spacing space.

[0008] Optionally, the grating encoder disk comprises a plurality of encoding structures spaced apart along the circumference of the grating encoder disk; along the axial direction of the rotating mirror assembly, the encoding structures extend away from the rotating mirror assembly; or, along the radial direction of the rotating mirror assembly, the encoding structures extend to the radial outer side of the rotating mirror assembly.

[0009] Optionally, the spacing space comprises a first spacing space; the rotating mirror assembly is spaced apart from the base in the first direction to form the first spacing space; the optical distance measuring part further comprises a driving assembly mounted on the base; the first end of the rotating mirror assembly is close to the base and provided with a first support portion, and an output end of the driving assembly is matched with the first support portion to drive the rotating mirror assembly to rotate relative to the base; the output end of the driving assembly supports the first end of the rotating mirror assembly, and the rotating mirror assembly is spaced apart from the base in the first direction to form the first spacing space.

[0010] Optionally, the housing part further comprises an upper cover mounted on the base, and a containing cavity is formed between the base and the upper cover, and the semi-solid distance measuring main body is mounted in the containing cavity; the second end of the rotating mirror assembly is away from the base and provided with a second support portion, and the upper cover is rotationally matched with the second support portion to support the second end of the rotating mirror assembly.

[0011] Optionally, the control part comprises a circuit board electrically connected with the optical distance measuring part; the spacing space comprises a first spacing space; the rotating mirror assembly is spaced apart from the base in the first direction to form the first spacing space, and the circuit board is at least partially located in the first spacing space; and / or, the spacing space comprises a second spacing space, and the optical machine transceiver assembly is spaced apart from the base in the first direction to form the second spacing space, and the circuit board is at least partially located in the first spacing space.

[0012] Optionally, the spacing space comprises a second spacing space; the base is provided with an optical machine support for supporting and mounting the optical machine transceiver assembly, so that the optical machine transceiver assembly is spaced apart from the base in the first direction to form the second spacing space.

[0013] Optionally, the optical machine support comprises a mounting plate body and a reinforcing plate body, the mounting plate body and the reinforcing plate body extend along the first direction, the mounting plate body and the reinforcing plate body have a preset included angle therebetween, and the optical machine transceiver assembly is fixedly mounted on the mounting plate body.

[0014] According to another aspect of the present application, a mobile robot is provided, the mobile robot comprising the optical distance measuring device as described above.

[0015] The optical distance measuring device provided by the present application has the beneficial effect that by arranging the control unit in the spacing space between the semi-solid distance measuring body and the base, the overall volume of the optical distance measuring device is prevented from increasing due to the control unit occupying additional space alone, so that the internal structure of the optical distance measuring device is more compact, which is helpful to realize the miniaturization and lightweight design of the product, and meet the strict requirements of different application scenarios on the size of the optical distance measuring device. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. 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 labor.

[0017] Figure 1 The structural schematic diagram of the optical distance measuring device provided by the present application is shown in the following figure:

[0018] Figure 2 The structural schematic diagram of the optical distance measuring device provided by the present application is shown in the following figure:

[0019] Figure 3 The structural schematic diagram of the optical distance measuring device provided by the present application is shown in the following figure: Figure 2 The local enlarged view of the A area in the middle;

[0020] Figure 4 The structural schematic diagram of the optical distance measuring device provided by the present application is shown in the following figure:

[0021] Figure 5 The structural schematic diagram of the optical distance measuring device provided by the present application is shown in the following figure:

[0022] Figure 6 The structural schematic diagram of the optical distance measuring device provided by the present application is shown in the following figure:

[0023] Figure 7 The structural schematic diagram of the optical distance measuring device provided by the present application is shown in the following figure:

[0024] Figure 8 The structural schematic diagram of the optical distance measuring device provided by the present application is shown in the following figure:

[0025] The label details involved in the above drawings are as follows:

[0026] 10, housing part; 11, base; 111, optical engine support; 1111, mounting plate body; 1112, reinforcing plate body; 12, upper cover; 121, third support part;

[0027] 20, optical distance measuring part; 21, semi-solid distance measuring main body; 211, rotating mirror assembly; 2111, rotating mirror support; 2112, reflecting mirror assembly; 2113, first support part; 2114, second support part; 212, optical engine transceiver assembly; 22, driving assembly; 221, motor output shaft;

[0028] 30, control part;

[0029] 40, grating encoding assembly; 41, grating encoding disc; 411, encoding structure; 42, grating detection unit;

[0030] 50, spacing space; 51, first spacing space; 52, second spacing space. DETAILED DESCRIPTION

[0031] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects clearer, 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.

[0032] 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. The embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0033] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "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 used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to 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.

[0034] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" etc. can include one or more of the features explicitly or implicitly. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0035] As described in the background, the semi-solid-state laser radar is a common optical ranging device. Its working principle is to emit laser through a laser emitting module, change the direction of the laser through a scanning module, irradiate the target object, and then the reflected laser is received by a laser receiving module, and finally the received signal is processed through a signal processing module to obtain the distance, speed, direction, etc. of the target object. The semi-solid-state laser radar mainly consists of a laser emitting module, a scanning module, a laser receiving module and a signal processing module, and these structures occupy a certain space in the height direction and width direction of the semi-solid-state laser radar. At present, terminal products such as cleaning robots, etc. that apply semi-solid-state laser radars have higher requirements for the miniaturization of semi-solid-state laser radars.

[0036] Referring to Figures 1 to 8 To solve the above problems, according to one aspect of the present application, the embodiments of the present application provide an optical ranging device, the optical ranging device comprising: a housing portion 10, an optical ranging portion 20 and a control portion 30, wherein the housing portion 10 comprises a base 11; the optical ranging portion 20 comprises a semi-solid-state ranging main body 21, the semi-solid-state ranging main body 21 comprises a light machine transceiver assembly 212 and a rotating mirror assembly 211, the rotating mirror assembly 211 is rotatably installed on the base 11, the rotating mirror assembly 211 is used for reflecting a detection light beam emitted by the light machine transceiver assembly 212 to an external environment, and reflecting a detection light beam reflected by the external environment to the light machine transceiver assembly 212, the semi-solid-state ranging main body 21 is spaced apart from the base 11 in a first direction to form a spacing space 50 between the semi-solid-state ranging main body 21 and the base 11; wherein the first direction is a direction parallel to the rotating axis of the rotating mirror assembly 211; the control portion 30 is electrically connected with the optical ranging portion 20, and the control portion 30 is at least partially located in the spacing space 50. The optical ranging device provided by the embodiments avoids the increase of the overall volume of the optical ranging device due to the additional space occupied by the control portion 30 alone, makes the internal structure of the optical ranging device more compact, helps to realize the miniaturization and lightweight design of the product, and meets the strict requirements of different application scenarios on the size of the optical ranging device.

[0037] Referring to Figures 2 to 4 and Figure 7 and Figure 8As shown in the specific embodiment, in the specific embodiment, the interval space 50 in the embodiment includes a first interval space 51, the rotating mirror assembly 211 and the base 11 are arranged at intervals in a first direction to form the first interval space 51; the control unit 30 includes a grating encoding assembly 40, the grating encoding assembly 40 is at least partially located in the first interval space 51; the grating encoding assembly 40 includes a grating encoding disc 41 and a grating detection unit 42, the grating detection unit 42 is used to detect the relative rotation angle or the relative rotation speed between the grating detection unit 42 and the grating encoding disc 41; the grating encoding disc 41 is arranged in a relative fixed manner with the rotating mirror assembly 211, and the grating detection unit 42 is arranged in a relative fixed manner with the base 11. The grating encoding assembly 40 is arranged to be at least partially located in the first interval space 51, which avoids the increase of the overall volume of the optical distance measuring device due to the additional space occupied by the grating encoding assembly 40 alone, and makes the internal structure of the optical distance measuring device more compact, which is helpful to realize the miniaturization and lightweight design of the product. At the same time, the grating encoding disc 41 is arranged in a relative fixed manner with the rotating mirror assembly 211, and the grating detection unit 42 is arranged in a relative fixed manner with the base 11, so that the optical distance measuring device can detect the relative rotation angle or the relative rotation speed between the grating detection unit 42 and the grating encoding disc 41 through the grating detection unit 42 in the case that the rotating mirror assembly 211 rotates relative to the base 11.

[0038] As shown in the specific embodiment, Figures 2 to 4 and Figure 7 and Figure 8 As shown in the specific embodiment, in the specific embodiment, the rotating mirror assembly 211 in the embodiment includes a rotating mirror support 2111, the rotating mirror support 2111 is rotatably mounted on the base 11 and is provided with a reflecting surface, the reflecting surface is used to reflect the probe light beam; by rotatably mounting the rotating mirror support 2111 on the base 11 and arranging the reflecting surface on the rotating mirror support 2111, the optical distance measuring device can reflect the probe light beam through the reflecting surface of the rotating mirror support 2111.

[0039] As shown in the specific embodiment, Figure 7 and Figure 8As shown, in a specific embodiment, the grating encoder disk 41 in the embodiment is integrally formed with the first end of the rotating mirror support 2111, wherein the first end of the rotating mirror support 2111 is the end of the rotating mirror support 2111 close to the base 11, and the first end of the rotating mirror support 2111 is spaced apart from the base 11 in the first direction to form the first spacing space 51. Integrally forming the grating encoder disk 41 with the rotating mirror support 2111 can avoid the shaking between the grating encoder disk 41 and the rotating mirror support 2111 due to the loosening or gap of the connecting part, and enhance the overall rigidity of the grating encoder disk 41 and the rotating mirror support 2111. At the same time, integrally forming the grating encoder disk 41 with the rotating mirror support 2111 can also simplify the assembly process of the optical distance measuring device and improve the controllability of manufacturing precision.

[0040] In another embodiment, the grating encoder disk 41 in the embodiment is fixedly connected with the first end of the rotating mirror support 2111 in a separate body, wherein the first end of the rotating mirror support 2111 is the end of the rotating mirror support 2111 close to the base 11, and the first end of the rotating mirror support 2111 is spaced apart from the base 11 in the first direction to form the first spacing space 51. Fixedly connecting the grating encoder disk 41 with the rotating mirror support 2111 in a separate body can facilitate the individual maintenance of the grating encoder disk 41 or the rotating mirror support 2111, reduce the maintenance cost and difficulty, and shorten the maintenance time. Moreover, manufacturing the grating encoder disk 41 and the rotating mirror support 2111 in a separate body can reduce the complexity of the manufacturing process and the manufacturing difficulty.

[0041] In an optional embodiment, in the case that the grating encoder disk 41 and the rotating mirror support 2111 are fixedly connected in a separate body, the grating encoder disk 41 and the rotating mirror support 2111 are fixed by a threaded fastener, or the grating encoder disk 41 and the rotating mirror support 2111 are fixed by the way of gluing the mating surfaces.

[0042] In another embodiment, the grating encoder disk 41 in the embodiment is integrally formed with or fixedly arranged with the second end of the rotating mirror support 2111 in a separate body, wherein the second end of the rotating mirror support 2111 is the end of the rotating mirror support 2111 away from the base 11.

[0043] Referring to Figure 7 and Figure 8As shown in the figure, in a specific embodiment, the grating encoder disc 41 in the embodiment comprises a plurality of encoding structures 411, which are arranged along the circumference of the grating encoder disc 41; the plurality of encoding structures 411 arranged along the circumference of the grating encoder disc 41 can enable the grating detection unit 42 to determine the relative rotation angle or relative rotation speed of the grating encoder disc 41 by identifying the different signals corresponding to the encoding structures 411 and the intervals between adjacent encoding structures 411.

[0044] As shown in the figure, Figure 7 and Figure 8 As shown in the figure, in a specific embodiment, the encoding structures 411 extend to the side away from the rotating mirror assembly 211 along the axial direction of the rotating mirror assembly 211; arranging the encoding structures 411 to extend to the side away from the rotating mirror assembly 211 along the axial direction of the rotating mirror assembly 211 can reduce the space occupied by the encoding structures 411 in the radial direction of the optical distance measuring device.

[0045] In another embodiment, the encoding structures 411 extend to the radial outside of the rotating mirror assembly 211 along the radial direction of the rotating mirror assembly 211; arranging the encoding structures 411 to extend to the radial outside of the rotating mirror assembly 211 along the radial direction of the rotating mirror assembly 211 can reduce the space occupied by the encoding structures 411 in the axial direction of the optical distance measuring device.

[0046] In an optional embodiment, the encoding structures 411 provided in the embodiment are tooth-shaped protruding structures, and the grating detection unit 42 is a reflection-type photoelectric sensor. The reflection-type photoelectric sensor has a transmitting end and a receiving end, the transmitting end emits signal light towards the receiving end, when the grating encoder disc 41 and the grating detection unit 42 are relatively rotated, the plurality of tooth-shaped protruding structures will pass between the transmitting end and the receiving end in turn, when the signal light is blocked by the tooth-shaped protruding structure, the receiving end cannot receive the signal light, when the signal light can pass through the interval between adjacent tooth-shaped protruding structures, the receiving end can receive the signal light, thereby determining the relative rotation angle or relative rotation speed of the grating encoder disc 41; using the reflection-type photoelectric sensor can improve the anti-ambient light interference capability of the optical distance measuring device.

[0047] In another embodiment, the coding structure 411 provided by the embodiment is a color block, and the grating detection unit 42 is a reflective photoelectric sensor. Of course, in other embodiments, the coding structure 411 provided by the embodiment can also be a high-reflectivity plane or a convex structure. The reflective photoelectric sensor has a transmitting end for transmitting signal light toward the grating coding disc 41 and a receiving end for receiving signal light reflected by the grating coding disc 41. When the grating coding disc 41 and the grating detection unit 42 rotate relative to each other, a plurality of color blocks will pass through the positions corresponding to the transmitting end and the receiving end in turn. When the receiving end receives signal light transmitted by a color block or reflected by a color block, different signals will be generated, so as to determine the relative rotation angle or relative rotation speed of the grating coding disc 41. The use of the reflective photoelectric sensor can reduce the occupied space of the grating coding part.

[0048] Referring to Figures 1 to 5 In a specific embodiment, the spacing space 50 in the embodiment includes a first spacing space 51; the rotating mirror assembly 211 and the base 11 are spaced apart in the first direction to form the first spacing space 51; the optical distance measuring part 20 further includes a driving assembly 22, the driving assembly 22 is installed on the base 11; the first end of the rotating mirror assembly 211 is close to the base 11 and is provided with a first support part 2113, the output end of the driving assembly 22 cooperates with the first support part 2113 to drive the rotating mirror assembly 211 to rotate relative to the base 11, the output end of the driving assembly 22 supports the first end of the rotating mirror assembly 211, and the rotating mirror assembly 211 and the base 11 are spaced apart in the first direction to form the first spacing space 51. By installing the driving assembly 22 on the base 11 and cooperating the output end of the driving assembly 22 with the first support part 2113 of the rotating mirror assembly 211, the rotating mirror assembly 211 can rotate relative to the housing part 10 under the driving of the driving assembly 22. At the same time, by supporting the first end of the rotating mirror assembly 211 by the output end of the driving assembly 22, the rotating mirror assembly 211 and the base 11 can be spaced apart in the first direction to form the first spacing space 51.

[0049] In an optional embodiment, the first end of the rotating mirror support 2111 forms the first end of the rotating mirror assembly 211, and the second end of the rotating mirror support 2111 forms the second end of the rotating mirror assembly 211.

[0050] In an optional embodiment, the driving assembly 22 provided by the embodiment includes a driving motor, the driving motor has a motor output shaft 221 or a motor output sleeve, the axis of the motor output shaft 221 or the motor output sleeve is collinear with the axis of the rotating mirror assembly 211, and the motor output shaft 221 or the motor output sleeve forms the output end of the driving assembly 22.

[0051] In an alternative embodiment, the driving motor provided by the embodiment has a motor output shaft 221, the first supporting part 2113 provided by the embodiment includes a first supporting sleeve extending away from the rotating mirror assembly 211, the motor output shaft 221 is arranged in the first supporting sleeve, the inner side wall of the first supporting sleeve is in abutting fit with the outer side wall of the motor output shaft 221, and the driving connection between the driving motor and the rotating mirror assembly 211 can be realized through the fit between the motor output shaft 221 and the first supporting sleeve.

[0052] In an alternative embodiment, the driving assembly 22 provided by the embodiment is fixedly installed on the side of the base 11 away from the upper cover 12, the base 11 is provided with a clearance opening in communication with the containing cavity and the external environment, the position of the clearance opening corresponds to the position of the output end of the driving assembly 22, and the output end of the driving assembly 22 at least partially penetrates into the containing cavity through the clearance opening.

[0053] In an alternative embodiment, the inner side wall of the first supporting sleeve is provided with a first limiting protrusion, the first limiting protrusion is in abutting fit with the end of the motor output shaft 221 close to the first supporting sleeve, so as to axially limit the first supporting sleeve and further axially limit the rotating mirror assembly 211.

[0054] In another embodiment, the driving motor provided by the embodiment has a motor output sleeve, the first supporting part 2113 provided by the embodiment includes a first supporting shaft extending away from the rotating mirror assembly 211, the first supporting shaft is arranged in the motor output sleeve, the outer side wall of the first supporting shaft is in abutting fit with the inner side wall of the motor output sleeve, and the driving connection between the driving motor and the rotating mirror assembly 211 can be realized through the fit between the motor output sleeve and the first supporting shaft.

[0055] In another embodiment, the inner side wall of the motor output sleeve is provided with a second limiting protrusion, the second limiting protrusion is in abutting fit with the end of the second supporting shaft close to the motor output sleeve, so as to axially limit the first supporting shaft and further axially limit the rotating mirror assembly 211.

[0056] Referring to Figure 2 and Figure 3As shown, in a specific embodiment, the shell part 10 in the embodiment further comprises a cover 12, the cover 12 is installed on the base 11, and a containing cavity is formed between the base 11 and the cover 12, and the semi-solid distance measuring main body 21 is installed in the containing cavity; the second end of the rotating mirror assembly 211 is away from the base 11 and is provided with a second supporting part 2114, and the cover 12 is rotationally matched with the second supporting part 2114 to support the second end of the rotating mirror assembly 211. By providing the second supporting part 2114 on the second end of the rotating mirror assembly 211 and matching the cover 12, the cover 12 can be rotationally connected with the second end of the rotating mirror assembly 211 and support the second end of the rotating mirror assembly 211.

[0057] In an alternative embodiment, the side of the cover 12 close to the base 11 is provided with a third supporting part 121, the third supporting part 121 is located on the side of the rotating mirror assembly 211 away from the base 11 and is rotationally matched with the second supporting part 2114 to support the second end of the rotating mirror assembly 211.

[0058] In an alternative embodiment, one of the second supporting part 2114 and the third supporting part 121 comprises a second supporting shaft, and the other one of the second supporting part 2114 and the third supporting part 121 comprises a second supporting sleeve, the second supporting shaft is rotationally arranged in the second supporting sleeve, the axis of the second supporting shaft is collinear with the axis of the first supporting shaft or the first supporting sleeve, and through the matching of the second supporting shaft and the second supporting sleeve, the rotating mirror assembly 211 can be rotationally installed in the containing cavity and the rotation stability of the rotating mirror assembly 211 can be improved.

[0059] In an alternative embodiment, the third supporting part 121 further comprises a rotating bearing, the rotating bearing is installed in the second supporting sleeve and located between the second supporting sleeve and the second supporting shaft, the outer side wall of the rotating bearing is abuttingly matched with the inner side wall of the second supporting sleeve, and the inner side wall of the rotating bearing is abuttingly matched with the inner side wall of the second supporting shaft, and the rotating bearing arranged between the second supporting shaft and the second supporting sleeve can reduce the rotation resistance between the second supporting shaft and the second supporting sleeve, so that the rotating mirror assembly 211 can rotate more easily relative to the shell part 10. In another alternative embodiment, when the mass and the moment of inertia of the rotating mirror assembly 211 are small, the second supporting part 2114 and the third supporting part 121 are directly rotationally matched, i.e., without the rotating bearing, and the stable rotation of the rotating mirror assembly 211 can also be ensured, thereby saving the cost of the rotating bearing.

[0060] In one specific embodiment, the control unit 30 includes a circuit board electrically connected to the optical ranging unit 20; the interval space 50 includes a first interval space 51; the rotating mirror assembly 211 and the base 11 are spaced apart in a first direction to form the first interval space 51, and the circuit board is at least partially located in the first interval space 51; by setting the circuit board in the first interval space 51 between the rotating mirror assembly 211 and the base 11, the overall volume of the optical ranging device is not increased due to the circuit board occupying additional space, making the internal structure of the optical ranging device more compact, which helps to realize the miniaturization and lightweight design of the product and meet the strict requirements of different application scenarios for the size of the optical ranging device.

[0061] In one specific embodiment, the interval space 50 includes a second interval space 52. The optomechanical transceiver assembly 212 and the base 11 are spaced apart in a first direction to form the second interval space 52, and the circuit board is at least partially located in the first interval space 51. By placing the circuit board in the second interval space 52 between the optomechanical transceiver assembly 212 and the base 11, the overall size of the optical ranging device is avoided from being increased due to the circuit board occupying additional space. This makes the internal structure of the optical ranging device more compact, which helps to achieve miniaturization and lightweight design of the product and meets the strict size requirements of the optical ranging device in different application scenarios.

[0062] In one optional embodiment, the circuit board provided in this embodiment is electrically connected to the grating detection unit 42, the optomechanical transceiver component 212 and the driving component 22 respectively, and is used to control the operation of the grating detection unit 42, the optomechanical transceiver component 212 and the driving component 22.

[0063] See Figure 2 , Figure 4 and Figure 5 As shown, in a specific embodiment, the space 50 includes a second space 52; an optical engine bracket 111 is provided on the base 11, which supports and installs the optical engine transceiver assembly 212, such that the optical engine transceiver assembly 212 and the base 11 are spaced apart in a first direction to form the second space 52. Providing the optical engine bracket 111 on the base 11 to support and install the optical engine transceiver assembly 212 provides a more stable support for the optical engine transceiver assembly 212, reducing displacement and shaking caused by external vibrations, impacts, and other factors during operation. It also facilitates the positioning and installation of the optical engine transceiver assembly 212 and forms the second space 52 between the base 11 and the optical engine transceiver assembly 212.

[0064] See Figure 6As shown, in a specific embodiment, the optical machine support 111 and the base 11 are integrally formed. Integrally forming the optical machine support 111 and the base 11 can avoid the optical machine support 111 and the base 11 from shaking due to loosening or clearance of the connecting part, enhance the overall rigidity of the optical machine support 111 and the base 11, and more evenly distribute the load borne by the integrally formed structure, thereby improving the load bearing capacity of the optical machine support 111 and the base 11. Meanwhile, integrally forming the optical machine support 111 and the base 11 can simplify the assembly process of the optical distance measuring device and improve the controllability of manufacturing precision.

[0065] In another embodiment, the optical machine support 111 and the base 11 are fixedly connected in a split body. Fixedly connecting the optical machine support 111 and the base 11 in a split body can facilitate the individual maintenance of the optical machine support 111 or the base 11, reduce the maintenance cost and difficulty, and shorten the maintenance time. Splitting the manufacture of the optical machine support 111 and the base 11 can reduce the complexity of the manufacturing process and the manufacturing difficulty.

[0066] In an optional embodiment, in the case where the optical machine support 111 and the base 11 are fixedly connected in a split body, the optical machine support 111 and the base 11 are fixed by a threaded fastener, or the optical machine support 111 and the base 11 are fixed by gluing the mating surfaces.

[0067] In a specific embodiment, the optical machine support 111 includes a mounting plate body 1111 and a reinforcing plate body 1112. The mounting plate body 1111 and the reinforcing plate body 1112 extend along a first direction, have a preset included angle therebetween, and the optical transceiver assembly 212 is fixedly installed on the mounting plate body 1111. The preset included angle between the mounting plate body 1111 and the reinforcing plate body 1112 can increase the structural strength of the optical machine support 111.

[0068] In an optional embodiment, the optical machine support 111 is located in the accommodating cavity, and the mounting plate body 1111 and the reinforcing plate body 1112 are located on the side of the base 11 close to the upper cover 12.

[0069] In an alternative embodiment, the housing 10 provided by the present embodiment is provided with a light-transmitting portion, and the optical transceiver assembly 212 provided by the present embodiment includes a transmitting assembly and a receiving assembly. The transmitting assembly is configured to emit a probe light beam toward the rotating mirror assembly 211. The probe light beam is reflected by the reflecting surface of the rotating mirror assembly 211 and can irradiate the external environment through the light-transmitting portion. The receiving assembly is configured to receive the probe light beam reflected by the target object and reflected back to the optical distance measuring device. The probe light beam reflected by the target object and reflected back to the optical distance measuring device can be reflected by the reflecting surface of the rotating mirror assembly 211 after passing through the light-transmitting portion and then reflected onto the receiving assembly.

[0070] In an alternative embodiment, the light-transmitting portion provided by the present embodiment is provided on the upper cover 12, and the light-transmitting portion is formed by the light-transmitting side wall of the upper cover 12.

[0071] In an alternative embodiment, the reflecting surface provided by the present embodiment includes a first reflecting surface and a second reflecting surface. The first reflecting surface is located corresponding to the position of the transmitting assembly. The probe light beam emitted by the transmitting assembly can be reflected by the first reflecting surface and irradiate the external environment through the light-transmitting portion. The second reflecting surface is located corresponding to the position of the receiving assembly. The probe light beam reflected by the target object and reflected back to the optical distance measuring device can be reflected by the second reflecting surface after passing through the light-transmitting portion and then reflected onto the receiving assembly.

[0072] In an alternative embodiment, the first reflecting surface and the second reflecting surface provided by the present embodiment are coplanar, and the rotation axis of the rotating mirror assembly 211 is parallel to or coincides with the first reflecting surface and the second reflecting surface.

[0073] In an alternative embodiment, the rotating mirror assembly 211 provided by the present embodiment further includes a mirror assembly 2112. The mirror assembly 2112 is installed on the rotating mirror support 2111 and is provided with a reflecting surface.

[0074] In an alternative embodiment, the mirror assembly 2112 provided by the present embodiment includes a first mirror. The first mirror is fixedly installed on the rotating mirror support 2111. The side of the first mirror away from the rotating mirror support 2111 is provided with a reflecting surface. Different regions of the reflecting surface form the first reflecting surface and the second reflecting surface, respectively.

[0075] In another embodiment, the mirror assembly 2112 provided by the present embodiment includes a second mirror and a third mirror. The second mirror and the third mirror are both fixedly installed on the rotating mirror support 2111. The side of the second mirror away from the rotating mirror support 2111 is provided with the first reflecting surface. The side of the third mirror away from the rotating mirror support 2111 is provided with the second reflecting surface.

[0076] In an alternative embodiment, the first reflective surface and the second reflective surface are arranged in sequence along the extension direction of the rotation axis of the rotating mirror assembly 211, and the emitting assembly and the receiving assembly are arranged in sequence along the extension direction of the rotation axis of the rotating mirror assembly 211.

[0077] In an alternative embodiment, the emitting assembly is a laser emitting assembly, and the receiving assembly is a laser receiving assembly.

[0078] According to another aspect of the present application, a mobile robot is provided, the mobile robot comprising the optical distance measuring device as described above.

[0079] In summary, by implementing the optical distance measuring device and the mobile robot provided in the embodiments, the following beneficial technical effects can be achieved: the optical distance measuring device provided in the embodiments avoids the increase of the overall volume of the optical distance measuring device due to the control unit 30 occupying additional space alone, and makes the internal structure of the optical distance measuring device more compact, which is helpful to realize the miniaturization and lightweight design of the product, and meets the strict requirements of different application scenarios on the size of the optical distance measuring device.

[0080] The above merely describes the preferred embodiments of the present application and should not be used to limit the present application, and any modifications, equivalent replacements and improvements made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An optical distance measuring device, characterized in that The optical distance measuring device comprises: a housing part (10) comprising a base (11); an optical distance measuring part (20) comprising a semi-solid distance measuring main body (21) comprising a light machine transceiver assembly (212) and a rotating mirror assembly (211), the rotating mirror assembly (211) being rotatably mounted on the base (11), the rotating mirror assembly (211) being used for reflecting a probe light beam emitted by the light machine transceiver assembly (212) to an external environment and reflecting the probe light beam reflected by the external environment to the light machine transceiver assembly (212), the semi-solid distance measuring main body (21) being spaced apart from the base (11) in a first direction to form a spacing space (50) between the semi-solid distance measuring main body (21) and the base (11); wherein the first direction is a direction parallel to an axis of rotation of the rotating mirror assembly (211); a control part (30) electrically connected with the optical distance measuring part (20), the control part (30) being at least partially located in the spacing space (50).

2. The optical distance measuring device according to claim 1, characterized in that The spacing space (50) comprises a first spacing space (51), the rotating mirror assembly (211) and the base (11) are spaced apart in the first direction to form the first spacing space (51); The control part (30) comprises a grating encoding assembly (40), the grating encoding assembly (40) is at least partially located in the first spacing space (51); the grating encoding assembly (40) comprises a grating encoding disc (41) and a grating detection unit (42), the grating detection unit (42) is used for detecting a relative rotation angle or a relative rotation speed between the grating detection unit (42) and the grating encoding disc (41); The grating encoding disc (41) is fixedly arranged opposite to the rotating mirror assembly (211), and the grating detection unit (42) is fixedly arranged opposite to the base (11).

3. The optical distance measuring device according to claim 2, characterized in that The rotating mirror assembly (211) comprises a rotating mirror support (2111), the rotating mirror support (2111) is rotatably mounted on the base (11) and is provided with a reflecting surface, the reflecting surface is used for reflecting the probe light beam; The grating encoding disc (41) is integrally formed with or separately fixedly connected with a first end of the rotating mirror support (2111), wherein the first end of the rotating mirror support (2111) is an end close to the base (11), and the first end of the rotating mirror support (2111) is spaced apart from the base (11) in the first direction to form the first spacing space (51).

4. The optical distance measuring device according to claim 2, characterized in that The grating encoding disc (41) comprises a plurality of encoding structures (411), and the plurality of encoding structures (411) are spaced apart along a circumferential direction of the grating encoding disc (41); In an axial direction of the rotating mirror assembly (211), the encoding structures (411) extend away from the rotating mirror assembly (211); Or, along the radial direction of the rotating mirror assembly (211), the coding structure (411) extends to the radial outside of the rotating mirror assembly (211).

5. The optical distance measuring device according to claim 1, characterized in that The interval space (50) comprises a first interval space (51); the rotating mirror assembly (211) and the base (11) are arranged in the first direction to form the first interval space (51). The optical distance measuring part (20) further comprises a driving assembly (22), and the driving assembly (22) is installed on the base (11). The first end of the rotating mirror assembly (211) is close to the base and is provided with a first support part (2113); the output end of the driving assembly (22) is matched with the first support part (2113) to drive the rotating mirror assembly (211) to rotate relative to the base (11); the output end of the driving assembly (22) supports the first end of the rotating mirror assembly (211) and makes the rotating mirror assembly (211) and the base (11) arranged in the first direction to form the first interval space (51).

6. The optical distance measuring device according to claim 5, characterized in that The shell part further comprises an upper cover (12), the upper cover (12) is installed on the base (11), and a containing cavity is formed between the base (11) and the upper cover (12); the semi-solid distance measuring main body (21) is installed in the containing cavity; The second end of the rotating mirror assembly (211) is away from the base and is provided with a second support part (2114); the upper cover (12) is rotationally matched with the second support part (2114) to support the second end of the rotating mirror assembly (211).

7. The optical distance measuring device according to claim 1, characterized in that The control part (30) comprises a circuit board, and the circuit board is electrically connected with the optical distance measuring part (20); The interval space (50) comprises a first interval space (51); the rotating mirror assembly (211) and the base (11) are arranged in the first direction to form the first interval space (51), and the circuit board is at least partially located in the first interval space (51). And / or, the interval space (50) comprises a second interval space (52); the optical machine transceiver assembly (212) and the base (11) are arranged in the first direction to form the second interval space (52), and the circuit board is at least partially located in the first interval space (51).

8. The optical distance measuring device according to claim 1, characterized in that The interval space (50) comprises a second interval space (52); the base is provided with an optical machine support for supporting and installing the optical machine transceiver assembly (212), so that the optical machine transceiver assembly (212) and the base (11) are arranged in the first direction to form the second interval space (52).

9. The optical distance measuring device according to claim 8, characterized in that The optical machine support (111) comprises a mounting plate body (1111) and a reinforcing plate body (1112); the mounting plate body (1111) and the reinforcing plate body (1112) extend along the first direction; the mounting plate body (1111) and the reinforcing plate body (1112) have a preset included angle; and the optical machine transceiver assembly (212) is fixedly installed on the mounting plate body (1111).

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

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