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 robot, the optical distance measuring device comprises a shell part, a first optical machine assembly, a rotating mirror assembly and a second optical machine assembly, and the shell part is provided with a light transmitting structure; the first light machine assembly is installed in the shell part, the rotating mirror assembly is rotatably installed in the shell part, and a first detection light beam emitted by the first light machine assembly is reflected by the reflecting surface of the rotating mirror assembly and then penetrates through the light transmitting structure to irradiate the external environment; the second light machine assembly is installed in the shell part, and a second detection light beam emitted by the second light machine assembly penetrates through the light-transmitting structure and irradiates the external environment; the second detection beam comprises a linear beam. According to the optical distance measuring device, the detection blind area is small, the perception degree of the external environment is high, the first light machine assembly used for emitting the first detection light beam and the second light machine assembly used for emitting the second detection light beam are both arranged in the shell part, and the high integration degree is achieved.

Description

TECHNICAL FIELD

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

[0002] Laser radar is a common optical ranging device. Its working principle is to emit a detection signal to the target, then compare the signal received from the target reflection with the emitted signal, and after appropriate processing, the relevant information of the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters.

[0003] However, the existing laser radar only scans in the horizontal direction, and its detection blind area is large, the environmental perception is limited, and the collision risk is high. CONTENT OF THE INVENTION

[0004] The purpose of the embodiments of the present application is to provide an optical ranging device and a mobile robot, aiming to solve the technical problems of large detection blind area, limited environmental perception, and high collision risk of the laser radar in the prior art.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, an optical ranging device is provided, which comprises: a housing part, a first optical machine assembly, a rotating mirror assembly, and a second optical machine assembly, wherein the housing part is provided with a light-transmitting structure; the first optical machine assembly is installed in the housing part, the rotating mirror assembly is rotatably installed in the housing part, the first detection light beam emitted by the first optical machine assembly is reflected by the reflecting surface of the rotating mirror assembly and then irradiates to the external environment through the light-transmitting structure; the second optical machine assembly is installed in the housing part, and the second detection light beam emitted by the second optical machine assembly irradiates to the external environment through the light-transmitting structure; wherein the second detection light beam comprises a linear light beam.

[0006] Optionally, the cross-sectional shape of the linear light beam in the direction perpendicular to the irradiation direction of the linear light beam is a single-line shape; the single-line shape extends along the direction parallel to the reference plane; or, the single-line shape extends along the direction perpendicular to the reference plane; or, the single-line shape extends along the direction having a first preset included angle with the reference plane, and the size of the first preset included angle is a, ° < a < °; wherein the reference plane is a plane perpendicular to the rotation axis of the rotating mirror assembly.

[0007] Optionally, in the case where the single-line shape extends along the direction parallel to the reference plane, the irradiation direction of the linear light beam has a second preset included angle with the reference plane; the first detection light beam is reflected by the reflecting surface of the rotating mirror assembly and then irradiates along the direction parallel to the reference plane; or, the first detection light beam irradiates along the direction parallel to the reference plane, and the reflecting surface of the rotating mirror assembly is parallel to the rotation axis of the rotating mirror assembly.

[0008] Optionally, the optical distance measuring device further comprises a driving part, the driving part is installed on the housing part and is in driving connection with the rotating mirror assembly, and is used for driving the rotating mirror assembly to rotate relative to the housing part; the first light machine assembly comprises a first emitter and a first receiver, the first emitter is used for emitting a first probe light beam to the reflecting surface of the rotating mirror assembly, and the first receiver is used for receiving the first probe light beam reflected by the external environment and the reflecting surface of the rotating mirror assembly and obtaining corresponding first receiving data; the second light machine assembly comprises a second emitter and a second receiver, the second emitter is used for emitting a second probe light beam, and the second receiver is used for detecting the second probe light beam reflected by the external environment and obtaining corresponding second receiving data; the optical distance measuring device further comprises five circuit board units, the five circuit board units are respectively a first circuit board unit, a second circuit board unit, a third circuit board unit, a fourth circuit board unit and a fifth circuit board unit; the first circuit board unit is in electrical connection with the first emitter and is used for controlling the first emitter to emit the first probe light beam; the second circuit board unit is in electrical connection with the first receiver and is used for obtaining the first receiving data from the first receiver; the third circuit board unit is in electrical connection with the second emitter and is used for controlling the second emitter to emit the second probe light beam; the fourth circuit board unit is in electrical connection with the second receiver and is used for obtaining the second receiving data from the second receiver; the fifth circuit board unit is in electrical connection with the driving part and is used for controlling the driving part to work; the five circuit board units are separately arranged to form five circuit boards; or, two of the five circuit board units are integrated into one circuit board, and the remaining three are separately arranged to form three circuit boards; or, two of the five circuit board units are integrated into a first circuit board, two of the remaining three are integrated into a second circuit board, and the last one is formed into a third circuit board; or, two of the five circuit board units are integrated into a first circuit board, and the remaining three are integrated into a second circuit board; or, three of the five circuit board units are integrated into one circuit board, and the remaining two are separately arranged to form two circuit boards; or, four of the five circuit board units are integrated into a first circuit board, and the remaining one is formed into a second circuit board; or, the five circuit board units are integrated into one circuit board.

[0009] Optionally, in the case that two of the five circuit board units are integrated into one circuit board, and the remaining three are separately arranged to form three circuit boards, the first circuit board unit and the second circuit board unit are integrated into one circuit board; or, the third circuit board unit and the fourth circuit board unit are integrated into one circuit board; in the case that two of the five circuit board units are integrated into a first circuit board, and two of the remaining three are integrated into a second circuit board, and the last one is formed into a third circuit board, the first circuit board unit and the second circuit board unit are integrated into the first circuit board, and the third circuit board unit and the fourth circuit board unit are integrated into the second circuit board; in the case that two of the five circuit board units are integrated into a first circuit board, and the remaining three are integrated into a second circuit board, the first circuit board unit and the second circuit board unit are integrated into the first circuit board, and the third circuit board unit, the fourth circuit board unit, and the fifth circuit board unit are integrated into the second circuit board; or, the third circuit board unit and the fourth circuit board unit are integrated into a first circuit board, and the first circuit board unit, the second circuit board unit, and the fifth circuit board unit are integrated into a second circuit board; in the case that three of the five circuit board units are integrated into one circuit board, and the remaining two are separately arranged to form two circuit boards, the first circuit board unit, the second circuit board unit, and the fifth circuit board unit are integrated into one circuit board; or, the third circuit board unit, the fourth circuit board unit, and the fifth circuit board unit are integrated into one circuit board; in the case that four of the five circuit board units are integrated into a first circuit board, and the remaining one is formed into a second circuit board, the first circuit board unit, the second circuit board unit, the third circuit board unit, and the fourth circuit board unit are integrated into the first circuit board.

[0010] Optionally, the first circuit board unit, the second circuit board unit, the third circuit board unit, and the fourth circuit board unit are electrically connected to the fifth circuit board unit, and the fifth circuit board unit is electrically connected to an external power supply; and / or, the first circuit board unit and the second circuit board unit are electrically connected; and / or, the third circuit board unit and the fourth circuit board unit are electrically connected.

[0011] Optionally, the number of the linear light beams is multiple; the linear light beams corresponding to at least two linear light beams of the multiple linear light beams are parallel or have a third preset included angle, and / or the irradiation directions of the linear light beams corresponding to at least two linear light beams of the multiple linear light beams are parallel or have a fourth preset included angle; the second light machine assembly comprises a second emitter and a second receiver, the second emitter is configured to emit a second probe light beam, and the second receiver is configured to detect the second probe light beam reflected by the external environment and obtain corresponding second receiving data; wherein the number of the second emitter is one, the second probe light beam emitted by the one second emitter comprises multiple linear light beams, or the number of the second emitter is multiple, and the second probe light beam emitted by any one second emitter of the multiple second emitters comprises at least one linear light beam; wherein the number of the second receiver is equal to the number of the second emitter and is one-to-one corresponding, or the number of the second receiver is less than the number of the second emitter, and at least one second receiver is correspondingly arranged between at least two second emitters.

[0012] Optionally, the first light machine assembly, the rotating mirror assembly and the second light machine assembly are sequentially arranged in a first direction, the first direction being a direction perpendicular to the rotation axis of the rotating mirror assembly; or the rotating mirror assembly, the first light machine assembly and the second light machine assembly are sequentially arranged in the first direction, the first direction being a direction perpendicular to the rotation axis of the rotating mirror assembly; or the first light machine assembly and the rotating mirror assembly are sequentially arranged in a first direction, and the first light machine assembly and the second light machine assembly are sequentially arranged in a second direction; wherein the first direction is a direction perpendicular to the rotation axis of the rotating mirror assembly, and the second direction is a direction perpendicular to the rotation axis of the rotating mirror assembly and the first direction; or the first light machine assembly and the rotating mirror assembly are sequentially arranged in a first direction, and the first light machine assembly and the second light machine assembly are sequentially arranged in a third direction; wherein the first direction is a direction perpendicular to the rotation axis of the rotating mirror assembly, and the third direction is a direction parallel to the rotation axis of the rotating mirror assembly.

[0013] Optionally, the first light machine assembly and the second light machine assembly work in time division; or the first light machine assembly and the second light machine assembly work simultaneously, the wavelengths of the first probe light beam and the second probe light beam are different, the first light machine assembly identifies the first probe light beam, and the second light machine assembly identifies the second probe light beam.

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

[0015] The optical distance measuring device provided by the application has the beneficial effects that, compared with the prior art, the optical distance measuring device can emit a first probe light beam to the external environment through the combination of the first light machine assembly and the rotating mirror assembly, and emit a second probe light beam to the external environment through the second light machine assembly, so that more external environment information can be obtained in the case that the detection ranges of the first probe light beam and the second probe light beam do not completely coincide, thereby reducing the detection blind area of the optical distance measuring device, improving the perception degree of the optical distance measuring device to the external environment, effectively reducing the collision risk of the mobile robot with the optical distance measuring device, and the first light machine assembly for emitting the first probe light beam and the second light machine assembly for emitting the second probe light beam are both arranged in the housing part, and have high integration. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

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

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

[0019] Figure 3 The structural schematic diagram of the optical distance measuring device provided by the embodiment of the application is shown in the figure.

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

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

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

[0023] The label details involved in the above drawings are as follows:

[0024] 10, housing part; 11, first housing; 111, light-transmitting window; 12, second housing;

[0025] 20, first optical engine assembly; 221, first emitter; 222, first receiver;

[0026] 30, rotating mirror assembly; 31, rotating mirror holder; 32, first mirror; 33, second mirror;

[0027] 40, second optical engine assembly; 421, second emitter; 422, second receiver;

[0028] 50, driving unit;

[0029] 60, grating coding structure. DETAILED DESCRIPTION

[0030] In order to make the technical problems to be solved, technical solutions and beneficial effects of the present application 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 not intended to limit the present application.

[0031] It should be noted that when an element is referred to as being "fixed" 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.

[0032] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0033] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0034] As described in the background art, the laser radar is a common optical ranging device. Its working principle is to emit a probe signal to the target, and then compare the received signal reflected from the target with the emitted signal, and after appropriate processing, the relevant information of the target can be obtained, such as target distance, direction, height, speed, attitude, even shape and other parameters. However, the existing laser radar only scans in the horizontal direction, and its detection blind area is large, the environmental perception is limited, and the collision risk is high.

[0035] Referring to Figures 1 to 6 To solve the above problems, according to one aspect of the present application, the embodiment of the present application provides an optical ranging device, which comprises: a housing portion 10, a first optical machine assembly 20, a rotating mirror assembly 30 and a second optical machine assembly 40, wherein the housing portion 10 is provided with a light-transmitting structure; the first optical machine assembly 20 is installed in the housing portion 10, the rotating mirror assembly 30 is rotatably installed in the housing portion 10, and the first probe light beam emitted by the first optical machine assembly 20 is reflected by the reflecting surface of the rotating mirror assembly 30 and then irradiates to the external environment through the light-transmitting structure; the second optical machine assembly 40 is installed in the housing portion 10, and the second probe light beam emitted by the second optical machine assembly 40 irradiates to the external environment through the light-transmitting structure; wherein the second probe light beam comprises a linear light beam. The optical ranging device provided by the embodiment can emit the first probe light beam to the external environment through the combination of the first optical machine assembly 20 and the rotating mirror assembly 30, and emit the second probe light beam to the external environment through the second optical machine assembly 40, so that the optical ranging can obtain more external environment information in the case that the detection ranges of the first probe light beam and the second probe light beam do not completely coincide, thereby reducing the detection blind area of the optical ranging device, improving the perception degree of the optical ranging device to the external environment, and effectively reducing the collision risk of the mobile robot with the optical ranging device provided by the embodiment. The first optical machine assembly 20 for emitting the first probe light beam and the second optical machine assembly 40 for emitting the second probe light beam are both arranged in the housing portion 10, and have high integration.

[0036] In an alternative embodiment, the housing portion 10 in the embodiment comprises a first housing 11 and a second housing 12, the first housing 11 is installed on the second housing 12, the side of the first housing 11 close to the second housing 12 is provided with a first accommodating recess, the side of the second housing 12 close to the first housing 11 is provided with a second accommodating recess, and the first accommodating recess and the second accommodating recess jointly form an accommodating cavity, and the first optical machine assembly 20, the rotating mirror assembly 30 and the second optical machine assembly 40 are arranged in the accommodating cavity.

[0037] In an alternative embodiment, the light-transmitting structure provided by the embodiment comprises a light-transmitting window 111, which is arranged on the first housing 11 and corresponds to the side of the rotating mirror assembly 30 in the radial direction.

[0038] In an alternative embodiment, the light-transmitting window 111 is formed by an opening structure that communicates the accommodating cavity with the external environment and / or a light-transmitting sidewall.

[0039] In an alternative embodiment, the first light machine assembly 20 and the second light machine assembly 40 are fixedly installed in the accommodating cavity.

[0040] In a specific embodiment, the linear light beam has a cross-sectional shape of a horizontal line in a direction perpendicular to the irradiation direction of the linear light beam; the cross-sectional shape of the linear light beam in the direction perpendicular to the irradiation direction of the linear light beam is set as a horizontal line, which can expand the measurement range and coverage area of the linear light beam, wherein the irradiation direction of the linear light beam is the direction in which the center line of the linear light beam extends.

[0041] In a specific embodiment, the horizontal line extends in a direction parallel to the reference plane; in the case where the reference plane is parallel to the horizontal plane, the horizontal line is set to extend in the direction parallel to the reference plane, which can make the linear light beam cover a wider angle range in the horizontal direction, thereby improving the detection efficiency of the optical distance measuring device in the horizontal direction. It should be noted that the reference plane in the present application is a plane perpendicular to the rotation axis of the rotating mirror assembly 30.

[0042] In another embodiment, the horizontal line extends in a direction perpendicular to the reference plane; in the case where the reference plane is parallel to the horizontal plane, the horizontal line is set to extend in the direction perpendicular to the reference plane, which can make the optical distance measuring device realize high-resolution detection in the vertical direction through the linear light beam, thereby facilitating the detection of boundary-type obstacles such as walls by the optical distance measuring device.

[0043] In yet another embodiment, the horizontal line extends in a direction having a first preset included angle a with the reference plane, 0°<a<90°; in the case where the reference plane is parallel to the horizontal plane, the horizontal line is set to extend in the direction having the first preset included angle a with the reference plane, which can enhance the detection capability of the optical distance measuring device for inclined objects and terrain.

[0044] In a specific embodiment, in the case where the horizontal line extends in the direction parallel to the reference plane, the irradiation direction of the linear light beam has a second preset included angle with the reference plane; in the case where the horizontal line extends in the direction parallel to the reference plane, the irradiation direction of the linear light beam is set to have the second preset included angle with the reference plane, which can make the optical distance measuring device perform close-range scanning detection in an inclined upward or inclined downward direction through the linear light beam when the reference plane is parallel to the horizontal plane.

[0045] In a specific embodiment, when the optical distance measuring device provided in the embodiment is installed on the front side of the mobile robot, the irradiation direction of the linear light beam is inclined upward or inclined downward, and when the irradiation direction of the linear light beam is inclined downward, the linear light beam can be used to detect a close-range obstacle on the front side of the mobile robot, and when the irradiation direction of the linear light beam is inclined upward, the linear light beam can be used to detect an obstacle above the mobile robot.

[0046] In a specific embodiment, the first probe light beam in the embodiment is reflected by the reflecting surface of the rotating mirror assembly 30 and irradiated in a direction parallel to the reference plane. By setting the first probe light beam to be reflected by the reflecting surface of the rotating mirror assembly 30 and irradiated in a direction parallel to the reference plane, the optical distance measuring device can perform horizontal long-range scanning detection by the first probe light beam when the reference plane is parallel to the horizontal plane.

[0047] In another embodiment, the first probe light beam in the embodiment is irradiated in a direction parallel to the reference plane, and the reflecting surface of the rotating mirror assembly 30 is parallel to the rotation axis of the rotating mirror assembly 30. By setting the first probe light beam to be irradiated in a direction parallel to the reference plane and making the reflecting surface of the rotating mirror assembly 30 parallel to the rotation axis of the rotating mirror assembly 30, the optical distance measuring device can perform horizontal long-range scanning detection by the first probe light beam when the reference plane is parallel to the horizontal plane.

[0048] Referring to Figures 1 to 6 In a specific embodiment, the optical distance measuring device in the embodiment further includes a driving portion 50, which is installed on the housing portion 10 and drivingly connected with the rotating mirror assembly 30, for driving the rotating mirror assembly 30 to rotate relative to the housing portion 10. By fixing the driving portion 50 on the housing portion 10 and drivingly connecting the driving portion 50 with the rotating mirror assembly 30, the rotating mirror assembly 30 can rotate relative to the housing portion 10 under the driving of the driving portion 50.

[0049] In an optional embodiment, the driving portion 50 provided in the embodiment includes a driving motor, which is fixedly installed on the housing portion 10, and the output end of the driving motor is drivingly connected with the rotating mirror assembly 30 and supports the rotating mirror assembly 30, for driving the rotating mirror assembly 30 to rotate relative to the housing portion 10.

[0050] In a specific embodiment, the first optical machine assembly 20 in the embodiment includes a first emitter 221 for emitting a first probe light beam to the reflecting surface of the rotating mirror assembly 30, and a first receiver 222 for receiving the first probe light beam reflected by the external environment and the reflecting surface of the rotating mirror assembly 30, and obtaining corresponding first receiving data; the second optical machine assembly 40 includes a second emitter 421 for emitting a second probe light beam, and a second receiver 422 for detecting the second probe light beam reflected by the external environment, and obtaining corresponding second receiving data. The optical distance measuring device further includes five circuit board units, which are a first circuit board unit, a second circuit board unit, a third circuit board unit, a fourth circuit board unit, and a fifth circuit board unit.

[0051] In a specific embodiment, the first circuit board unit in the embodiment is electrically connected with the first emitter 221, for controlling the first emitter 221 to emit the first probe light beam; the first circuit board unit is arranged to be electrically connected with the first emitter 221, so that the optical distance measuring device can control the first emitter 221 to work through the first circuit board unit. In a specific embodiment, the second circuit board unit in the embodiment is electrically connected with the first receiver 222, for obtaining the first receiving data from the first receiver 222; the second circuit board unit is arranged to be electrically connected with the first receiver 222, so that the optical distance measuring device can obtain the first receiving data from the first receiver 222 through the second circuit board unit. In a specific embodiment, the third circuit board unit in the embodiment is electrically connected with the second emitter 421, for controlling the second emitter 421 to emit the second probe light beam; the third circuit board unit is arranged to be electrically connected with the second emitter 421, so that the optical distance measuring device can control the second emitter 421 to work through the third circuit board unit. In a specific embodiment, the fourth circuit board unit in the embodiment is electrically connected with the second receiver 422, for obtaining the second receiving data from the second receiver 422; the fourth circuit board unit is arranged to be electrically connected with the second receiver 422, so that the optical distance measuring device can obtain the second receiving data from the second receiver 422 through the fourth circuit board unit. In a specific embodiment, the fifth circuit board unit in the embodiment is electrically connected with the driving part 50, for controlling the driving part 50 to work; the fifth circuit board unit is arranged to be electrically connected with the driving part 50, so that the optical distance measuring device can control the driving part 50 to work through the fifth circuit board unit.

[0052] In a specific embodiment, the five circuit board units in the embodiment are arranged separately from each other to form five circuit boards.

[0053] In another specific embodiment, two of the five circuit board units are integrated into one circuit board, and the remaining three are separately arranged to form three circuit boards.

[0054] In another specific embodiment, two of the five circuit board units are integrated into a first circuit board, two of the remaining three are integrated into a second circuit board, and the last one is formed into a third circuit board.

[0055] In another specific embodiment, two of the five circuit board units are integrated into a first circuit board, and the remaining three are integrated into a second circuit board.

[0056] In another specific embodiment, two of the five circuit board units are integrated into a first circuit board, and the remaining three are integrated into a second circuit board.

[0057] In another specific embodiment, two of the five circuit board units are integrated into a first circuit board, and the remaining three are integrated into a second circuit board.

[0058] In another specific embodiment, the five circuit board units are integrated into one circuit board.

[0059] With the decrease in the integration degree of the five circuit board units provided by the present embodiment, the number of circuit boards formed by the five circuit board units gradually increases. More circuit boards can make the arrangement of the circuit boards more flexible, and the maintenance or replacement cost of the circuit boards when they fail can be lower, improving the maintainability and maintenance efficiency of the optical distance measuring device and reducing the maintenance cost. With the increase in the integration degree of the five circuit board units provided by the present embodiment, the number of circuit boards formed by the five circuit board units gradually decreases. Fewer circuit boards can reduce the occupied space of the five circuit board units in the housing part 10 to some extent, making the internal structure of the optical distance measuring device more compact, which helps to reduce the volume and weight of the entire optical distance measuring device. Moreover, with the increase in the integration degree of the five circuit board units, the number of connection points between the circuit board units and the length of the lines can also be reduced, which reduces the risk of failure caused by loose connections, aging of lines, and other problems, and improves the stability and reliability of the optical distance measuring device in complex vibration, impact, and other environments.

[0060] In a specific embodiment, in the case that two of the five circuit board units are integrated into one circuit board, and the remaining three are separately arranged to form three circuit boards, the first circuit board unit and the second circuit board unit are integrated into one circuit board; or, the third circuit board unit and the fourth circuit board unit are integrated into one circuit board. Integrating the first circuit board unit and the second circuit board unit into one circuit board, or integrating the third circuit board unit and the fourth circuit board unit into one circuit board, can optimize the internal space utilization of the optical distance measuring device, reduce the overall volume and weight of the optical distance measuring device, make the optical distance measuring device more compact in design, and also reduce the use of intermediate connecting components and circuit boards, to a certain extent, reduce the hardware cost and manufacturing cost of the optical distance measuring device, improve the cost performance of the product, and help the optical distance measuring device to be popularized and applied in more fields.

[0061] In another specific embodiment, in the case that two of the five circuit board units are integrated into a first circuit board, two of the remaining three are integrated into a second circuit board, and the last one is formed into a third circuit board, the first circuit board unit and the second circuit board unit are integrated into the first circuit board, and the third circuit board unit and the fourth circuit board unit are integrated into the second circuit board; integrating the first circuit board unit and the second circuit board unit into the first circuit board, and integrating the third circuit board unit and the fourth circuit board unit into the second circuit board, can optimize the internal space utilization of the optical distance measuring device, reduce the overall volume and weight of the optical distance measuring device, make the optical distance measuring device more compact in design, and also reduce the use of intermediate connecting components and circuit boards, to a certain extent, reduce the hardware cost and manufacturing cost of the optical distance measuring device, improve the cost performance of the product, and help the optical distance measuring device to be popularized and applied in more fields.

[0062] Referring to Figures 4 to 6In a specific embodiment, as shown, in the case that two of the five circuit board units are integrated into a first circuit board and the remaining three are integrated into a second circuit board, the first circuit board unit and the second circuit board unit are integrated into the first circuit board, and the third circuit board unit, the fourth circuit board unit, and the fifth circuit board unit are integrated into the second circuit board; or, the third circuit board unit and the fourth circuit board unit are integrated into the first circuit board, and the first circuit board unit, the second circuit board unit, and the fifth circuit board unit are integrated into the second circuit board. Integrating the first circuit board unit and the second circuit board unit into the first circuit board and the third circuit board unit, the fourth circuit board unit, and the fifth circuit board unit into the second circuit board, or integrating the third circuit board unit and the fourth circuit board unit into the first circuit board and the first circuit board unit, the second circuit board unit, and the fifth circuit board unit into the second circuit board, can optimize the internal space utilization of the optical distance measuring device, reduce the overall volume and weight of the optical distance measuring device, make the optical distance measuring device more compact, and also reduce the use of intermediate connecting components and circuit boards, to a certain extent, reduce the hardware cost and manufacturing cost of the optical distance measuring device, improve the performance-price ratio of the product, and help the optical distance measuring device to be promoted and applied in more fields.

[0063] Referring to Figure 6 In an alternative embodiment, as shown, in the case that two of the five circuit board units are integrated into a first circuit board and the remaining three are integrated into a second circuit board, the two circuit boards are electrically connected through wires.

[0064] In a specific embodiment, as shown, in the case that three of the five circuit board units are integrated into a circuit board and the remaining two are separately arranged and formed into two circuit boards, the first circuit board unit, the second circuit board unit, and the fifth circuit board unit are integrated into a circuit board; or, the third circuit board unit, the fourth circuit board unit, and the fifth circuit board unit are integrated into a circuit board. Integrating the first circuit board unit, the second circuit board unit, and the fifth circuit board unit into a circuit board, or integrating the third circuit board unit, the fourth circuit board unit, and the fifth circuit board unit into a circuit board, can optimize the internal space utilization of the optical distance measuring device, reduce the overall volume and weight of the optical distance measuring device, make the optical distance measuring device more compact, and also reduce the use of intermediate connecting components and circuit boards, to a certain extent, reduce the hardware cost and manufacturing cost of the optical distance measuring device, improve the performance-price ratio of the product, and help the optical distance measuring device to be promoted and applied in more fields.

[0065] In a specific embodiment, the first circuit board unit, the second circuit board unit, the third circuit board unit and the fourth circuit board unit are integrated into the first circuit board in the case that four of the five circuit board units are integrated into the first circuit board and the remaining one is integrated into the second circuit board. Integrating the first circuit board unit, the second circuit board unit, the third circuit board unit and the fourth circuit board unit into the first circuit board can optimize the internal space utilization of the optical distance measuring device, reduce the overall volume and weight of the optical distance measuring device, make the optical distance measuring device more compact, and also reduce the use of intermediate connecting components and circuit boards, to a certain extent, reduce the hardware cost and manufacturing cost of the optical distance measuring device, improve the cost performance of the product, and help the optical distance measuring device to be popularized and applied in more fields.

[0066] In a specific embodiment, the first circuit board unit, the second circuit board unit, the third circuit board unit and the fourth circuit board unit in the embodiment are electrically connected with the fifth circuit board unit, and the fifth circuit board unit is electrically connected with the external power supply. By electrically connecting the first circuit board unit, the second circuit board unit, the third circuit board unit and the fourth circuit board unit with the fifth circuit board unit, the external power supply can supply power to the first circuit board unit, the second circuit board unit, the third circuit board unit and the fourth circuit board unit through the fifth circuit board unit.

[0067] In a specific embodiment, the first circuit board unit and the second circuit board unit in the embodiment are electrically connected. By electrically connecting the first circuit board unit and the second circuit board unit, data interaction between the first circuit board unit and the second circuit board unit can be facilitated.

[0068] In a specific embodiment, the third circuit board unit and the fourth circuit board unit in the embodiment are electrically connected. By electrically connecting the third circuit board unit and the fourth circuit board unit, data interaction between the third circuit board unit and the fourth circuit board unit can be facilitated.

[0069] In a specific embodiment, the number of linear light beams in the embodiment is multiple; the linear light beams corresponding to the parallel one-character lines between at least two of the multiple linear light beams are parallel or have a third preset included angle. By setting the number of linear light beams to be multiple and making the linear light beams corresponding to the parallel one-character lines between at least two of the multiple linear light beams have a third preset included angle, the data acquisition amount of the optical distance measuring device per unit time can be increased, the optical distance measuring device can quickly obtain complete information of the surrounding environment, and rapid perception of the external environment can be realized.

[0070] In a specific embodiment, when the number of linear light beams provided by the embodiment is multiple, the linear direction of the linear light beams corresponding to the one-line linear shape can be any arrangement combination perpendicular to the reference surface, parallel to the reference surface, or having a first preset angle with the reference surface. For example, at least two linear light beams in the multiple linear light beams form a cross shape in the same position.

[0071] In a specific embodiment, the irradiation directions of at least two linear light beams in the multiple linear light beams in the embodiment are parallel or have a fourth preset angle. Setting the irradiation directions of at least two linear light beams in the multiple linear light beams to be parallel or have a fourth preset angle can increase the data acquisition amount of the optical distance measuring device in unit time, so that the optical distance measuring device can quickly obtain complete information of the surrounding environment and realize rapid perception of the external environment.

[0072] In a specific embodiment, when the number of linear light beams provided by the embodiment is multiple, the irradiation directions of the multiple linear light beams can be any arrangement combination perpendicular to the reference surface, parallel to the reference surface, or having a fourth preset angle with the reference surface. For example, the one-line linear shapes corresponding to two linear light beams in the multiple linear light beams are both parallel to the reference surface, but the irradiation directions of the corresponding two linear light beams intersect, or the one-line linear shapes corresponding to two linear light beams in the multiple linear light beams are both perpendicular to the reference surface, but the irradiation directions of the corresponding two linear light beams intersect.

[0073] In a specific embodiment, the second optical machine assembly 40 in the embodiment includes a second emitter 421 and a second receiver 422. The second emitter 421 is used to emit a second probe light beam, and the second receiver 422 is used to detect the second probe light beam reflected by the external environment and obtain corresponding second receiving data. The number of second emitters 421 is one, and the second probe light beam emitted by one second emitter 421 includes multiple linear light beams. Setting the second probe light beam emitted by one second emitter 421 to include multiple linear light beams can reduce the number of second emitters 421 when multiple linear light beams are needed for detection, thereby ensuring the miniaturization of the optical distance measuring device.

[0074] In another embodiment, the number of second emitters 421 in the embodiment is multiple, and the second probe light beam emitted by any one of the multiple second emitters 421 includes at least one linear light beam. Emitting multiple linear light beams through multiple second emitters 421 can reduce the performance requirements and cost of a single second emitter 421 and reduce the maintenance cost caused by the failure of a single second emitter 421.

[0075] In a specific embodiment, the number of the second receivers 422 in the embodiment is equal to the number of the second emitters 421 and is arranged in one-to-one correspondence. By setting the number of the second receivers 422 to be equal to the number of the second emitters 421 and arranging the second receivers 422 in one-to-one correspondence with the second emitters 421, accurate emission and reception of the second probe light beams can be achieved, and the problems of signal confusion and interference that may be caused when multiple second emitters 421 correspond to one second receiver 422 can be avoided, so that the distance, angle, and other information of the target object can be more accurately obtained, and the detection accuracy can be improved.

[0076] In another embodiment, the number of the second receivers 422 in the embodiment is less than the number of the second emitters 421, and at least one second receiver 422 is arranged in correspondence with at least two second emitters 421. By setting the number of the second receivers 422 to be less than the number of the second emitters 421, miniaturization of the optical distance measuring device can be ensured, and by arranging at least one second receiver 422 in correspondence with at least two second emitters 421, the second receiver 422 can obtain accurate information from the second probe light beams emitted by other second emitters 421 that are not interfered in the case that the second probe light beams emitted by part of the second emitters 421 are interfered, and the anti-interference ability of the optical distance measuring device can be enhanced.

[0077] In a specific embodiment, the second probe light beams can also include a surface-shaped light beam, wherein the cross-sectional shape of the surface-shaped light beam in the direction perpendicular to the illumination direction of the linear light beam is a shape with a certain area, such as a rectangular shape, a circular shape, etc.

[0078] Referring to Figures 3 to 6In a specific embodiment, the first optical engine assembly 20, the rotating mirror assembly 30 and the second optical engine assembly 40 are arranged in sequence in the first direction, which is perpendicular to the rotation axis of the rotating mirror assembly 30. Alternatively, the rotating mirror assembly 30, the first optical engine assembly 20 and the second optical engine assembly 40 are arranged in sequence in the first direction, which is perpendicular to the rotation axis of the rotating mirror assembly 30. Arranging the first optical engine assembly 20, the rotating mirror assembly 30 and the second optical engine assembly 40 in sequence in the first direction facilitates the design of a reasonable fixing and supporting structure inside the housing 10, enhances the anti-vibration and anti-impact capability of the optical distance measuring device in a complex working environment, ensures the stable operation of the optical distance measuring device for a long time, and makes full use of the internal space of the housing 10, making the connection between the first optical engine assembly 20, the rotating mirror assembly 30 and the second optical engine assembly 40 more compact, reducing unnecessary space waste, helping to reduce the overall volume of the optical distance measuring device, making it easier to install on different carriers. In addition, the sequential arrangement of the first optical engine assembly 20, the rotating mirror assembly 30 and the second optical engine assembly 40 facilitates the integration and packaging of the optical distance measuring device, simplifies the production process and assembly process, improves production efficiency, reduces production cost and product complexity, and enhances the sealing and protection performance of the optical distance measuring device, improving the reliability and service life of the product.

[0079] In another embodiment, the rotating mirror assembly 30, the first optical engine assembly 20 and the second optical engine assembly 40 are arranged in sequence in the first direction, which is perpendicular to the rotation axis of the rotating mirror assembly 30. Arranging the rotating mirror assembly 30, the first optical engine assembly 20 and the second optical engine assembly 40 in sequence in the first direction facilitates the design of a reasonable fixing and supporting structure inside the housing 10, enhances the anti-vibration and anti-impact capability of the optical distance measuring device in a complex working environment, ensures the stable operation of the optical distance measuring device for a long time, and makes full use of the internal space of the housing 10, making the connection between the rotating mirror assembly 30, the first optical engine assembly 20 and the second optical engine assembly 40 more compact, reducing unnecessary space waste, helping to reduce the overall volume of the optical distance measuring device, making it easier to install on different carriers. In addition, the sequential arrangement of the rotating mirror assembly 30, the first optical engine assembly 20 and the second optical engine assembly 40 facilitates the integration and packaging of the optical distance measuring device, simplifies the production process and assembly process, improves production efficiency, reduces production cost and product complexity, and enhances the sealing and protection performance of the optical distance measuring device, improving the reliability and service life of the product.

[0080] In yet another embodiment, the first optical machine assembly 20 and the rotating mirror assembly 30 are sequentially arranged in a first direction, and the first optical machine assembly 20 and the second optical machine assembly 40 are sequentially arranged in a second direction; the first direction is perpendicular to the rotation axis of the rotating mirror assembly 30, and the second direction is perpendicular to the rotation axis of the rotating mirror assembly 30 and the first direction; sequentially arranging the first optical machine assembly 20 and the rotating mirror assembly 30 in the first direction, and sequentially arranging the first optical machine assembly 20 and the second optical machine assembly 40 in the second direction, is conducive to ensuring that the optical distance measuring device does not have a large size in the first direction.

[0081] In still another embodiment, the first optical machine assembly 20 and the rotating mirror assembly 30 are sequentially arranged in a first direction, and the first optical machine assembly 20 and the second optical machine assembly 40 are sequentially arranged in a third direction; the first direction is perpendicular to the rotation axis of the rotating mirror assembly 30, and the third direction is parallel to the rotation axis of the rotating mirror assembly 30. Sequentially arranging the first optical machine assembly 20 and the rotating mirror assembly 30 in the first direction, and sequentially arranging the first optical machine assembly 20 and the second optical machine assembly 40 in the third direction, is conducive to ensuring that the optical distance measuring device does not have a large size in the first direction. When the optical distance measuring device provided in the embodiment is installed on a mobile robot, and the up-down direction of the mobile robot is parallel to the rotation circumferential direction of the rotating mirror assembly 30, the first optical machine assembly 20 is located above the second optical machine assembly 40, or the second optical machine assembly 40 is located above the first optical machine assembly 20.

[0082] In a specific embodiment, the first optical machine assembly 20 and the second optical machine assembly 40 in the embodiment work at different times; arranging the first optical machine assembly 20 and the second optical machine assembly 40 to work at different times can avoid the first optical machine assembly 20 receiving the second detection light beam emitted by the second optical machine assembly 40 and reflected back to the optical distance measuring device by the target object, and can avoid the second optical machine assembly 40 receiving the first detection light beam emitted by the first optical machine assembly 20 and reflected back to the optical distance measuring device by the target object, thereby improving the detection stability of the optical distance measuring device. The first optical machine assembly 20 and the second optical machine assembly 40 working at different times means that only one of the first optical machine assembly 20 and the second optical machine assembly 40 is working at the same time, and the other stops working.

[0083] In another embodiment, the first optical machine assembly 20 and the second optical machine assembly 40 in the embodiment work simultaneously, the first probe light beam and the second probe light beam have different wavelengths, the first optical machine assembly 20 identifies the first probe light beam, and the second optical machine assembly 40 identifies the second probe light beam. By setting the wavelength of the first probe light beam to be different from the wavelength of the second probe light beam, and setting the first optical machine assembly 20 to identify the first probe light beam and the second optical machine assembly 40 to identify the second probe light beam, the second probe light beam emitted by the second optical machine assembly 40 and reflected back to the optical distance measuring device by the target object can be avoided from affecting the first optical machine assembly 20, and the first probe light beam emitted by the first optical machine assembly 20 and reflected back to the optical distance measuring device by the target object can be avoided from affecting the second optical machine assembly 40, thereby improving the detection stability of the optical distance measuring device.

[0084] In an alternative embodiment, the reflecting surface of the rotating mirror assembly 30 provided in the embodiment includes a first reflecting surface and a second reflecting surface, the position of the first reflecting surface corresponds to the position of the first emitter 221, the first probe light beam emitted by the first emitter 221 can be reflected by the first reflecting surface and pass through the light transmission window 111 to irradiate into the external environment, and the position of the second reflecting surface corresponds to the position of the first receiver 222, the first probe light beam reflected back to the optical distance measuring device from the target object can be reflected by the second reflecting surface to the first receiver 222 after passing through the light transmission window 111.

[0085] In an alternative embodiment, the rotating mirror assembly 30 provided in the embodiment includes a rotating mirror bracket 31 and a mirror assembly, the rotating mirror bracket 31 is rotatably installed in the accommodating cavity and is drivingly connected to the output end of the driving motor, the mirror assembly is fixedly installed on the rotating mirror bracket 31, and the first reflecting surface and the second reflecting surface are formed on the mirror assembly.

[0086] In an alternative embodiment, the mirror assembly provided in the embodiment includes a first mirror 32 and a second mirror 33, the first mirror 32 and the second mirror 33 are both fixedly installed on the rotating mirror bracket 31, the side of the first mirror 32 away from the rotating mirror bracket 31 is provided with the first reflecting surface, and the side of the second mirror 33 away from the rotating mirror bracket 31 is provided with the second reflecting surface.

[0087] In an alternative embodiment, the side of the housing part 10 provided with the light-transmitting window 111 is the front side of the housing part 10, and the side opposite to the front side of the housing part 10 in the radial direction of the rotating mirror assembly 30 is the back side of the housing part 10. When the rotating mirror assembly 30 rotates to the first reflecting surface and the second reflecting surface face the back side of the housing part 10, the second optical machine assembly 40 starts to work, and the first optical machine assembly 20 stops to work. When the rotating mirror assembly 30 rotates to the first reflecting surface and the second reflecting surface face the front side of the housing part 10, the first optical machine assembly 20 starts to work, and the second optical machine assembly 40 stops to work.

[0088] In an alternative embodiment, the first reflecting surface and the second reflecting surface are sequentially arranged along the extension direction of the rotating axis of the rotating mirror assembly 30.

[0089] In an alternative embodiment, the first emitter 221 and the first receiver 222 are sequentially arranged along the extension direction of the rotating axis of the rotating mirror assembly 30.

[0090] In an alternative embodiment, the first optical machine assembly 20 is a point laser ranging assembly, and the second optical machine assembly 40 is a line laser ranging assembly.

[0091] In an alternative embodiment, the receiving cavity is provided with a first light barrier, and the first light barrier is located between the first emitter 221 and the first receiver 222, so as to avoid the first probe light beam emitted by the first emitter 221 directly entering the first receiver 222, and avoid the crosstalk between the emitted light and the reflected light.

[0092] In an alternative embodiment, the receiving cavity is provided with a second light barrier, and the second light barrier is located between the second emitter 421 and the second receiver 422, so as to avoid the second probe light beam emitted by the second emitter 421 directly entering the second receiver 422, and avoid the crosstalk between the emitted light and the reflected light.

[0093] In an alternative embodiment, the rotating mirror support 31 is provided with a third light barrier, and the third light barrier is located between the first reflecting surface and the second reflecting surface, so as to avoid the crosstalk between the reflected light on the first reflecting surface and the reflected light on the second reflecting surface.

[0094] In an alternative embodiment, the first light barrier and the second light barrier are integrally formed or separately arranged.

[0095] In an alternative embodiment, the optical distance measuring device further comprises a grating encoding unit, the grating encoding unit comprises a grating encoding disc and a grating detection unit, the grating detection unit is configured to detect the relative rotation angle or the relative rotation speed between the grating detection unit and the grating encoding disc; the grating encoding disc is arranged on the rotating mirror support 31, the grating detection unit is arranged in the accommodating cavity, and the grating detection unit is arranged in a relative fixed manner with the shell part 10, so that the grating encoding disc can rotate relative to the grating detection unit with the rotation of the rotating mirror support 31 relative to the shell part 10, and the grating detection unit can detect the relative rotation angle or the relative rotation speed between the grating detection unit and the grating encoding disc.

[0096] In an alternative embodiment, the grating encoding disc in the embodiment is provided with a grating encoding structure 60, the grating encoding structure 60 is located on the side of the grating encoding disc away from the rotating mirror support 31, the grating encoding structure 60 comprises a plurality of encoding units arranged in a circumferential interval of the grating encoding disc, and the grating detection unit can determine the relative rotation angle or the relative rotation speed of the grating encoding disc by identifying different signals corresponding to the intervals between adjacent encoding units.

[0097] In an alternative embodiment, the encoding unit in the embodiment is a tooth-shaped protruding structure, and the grating detection unit 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 encoding disc and the grating detection unit rotate relative to each other, a plurality of tooth-shaped protruding structures will pass through the interval 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 the relative rotation speed of the grating encoding disc, and the reflection type photoelectric sensor can improve the anti-ambient light interference capability of the optical distance measuring device.

[0098] In another embodiment, the encoding unit in the embodiment is a color block, the grating detection unit is a reflection type photoelectric sensor, and of course, the encoding unit in the embodiment can also be a high-reflectivity plane or a protruding structure in other embodiments. The reflection type photoelectric sensor has a transmitting end for emitting signal light towards the grating encoding disc and a receiving end for receiving signal light reflected by the grating encoding disc, when the grating encoding disc and the grating detection unit 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 the signal light emitted by the color block or not reflected by the color block, different signals will be generated, thereby determining the relative rotation angle or the relative rotation speed of the grating encoding disc, and the reflection type photoelectric sensor can reduce the occupied space of the grating encoding unit.

[0099] According to another aspect of the present application, a mobile robot is provided, the mobile robot comprising the optical ranging device as described above.

[0100] In summary, the optical ranging device and the mobile robot provided by the present embodiment have at least the following beneficial technical effects: the optical ranging device provided by the present embodiment can emit a first probe light beam to the external environment through the combination of the first light machine assembly 20 and the rotating mirror assembly 30, and emit a second probe light beam to the external environment through the second light machine assembly 40, so that more external environment information can be obtained in the case that the detection ranges of the first probe light beam and the second probe light beam do not completely coincide, thereby reducing the detection blind area of the optical ranging device, improving the perception degree of the optical ranging device to the external environment, effectively reducing the collision risk of the mobile robot with the optical ranging device provided by the present embodiment, and the first light machine assembly 20 for emitting the first probe light beam and the second light machine assembly 40 for emitting the second probe light beam are both arranged in the housing part 10, having a high degree of integration.

[0101] The preferred embodiments of the present application have been described above with the preferred embodiments, but the present application is not limited to the above, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An optical distance measuring device, characterized in that The optical distance measuring device comprises: a housing portion (10) provided with a light-transmitting structure; a first light machine assembly (20) and a rotating mirror assembly (30), the first light machine assembly (20) is installed in the housing portion (10), the rotating mirror assembly (30) is rotatably installed in the housing portion (10), and the first detection light beam emitted by the first light machine assembly (20) is reflected by the reflecting surface of the rotating mirror assembly (30) and irradiated to the external environment through the light-transmitting structure; a second light machine assembly (40) installed in the housing portion (10), the second detection light beam emitted by the second light machine assembly (40) is irradiated to the external environment through the light-transmitting structure; wherein the second detection light beam comprises a linear light beam.

2. The optical distance measuring device according to claim 1, characterized in that The cross-sectional shape of the linear light beam in the direction perpendicular to the irradiation direction of the linear light beam is a one-line shape; The one-line shape extends along the direction parallel to the reference plane; Or, the one-line shape extends along the direction perpendicular to the reference plane; Or, the one-line shape extends along the direction having a first preset included angle with the reference plane, the size of the first preset included angle is a, 0° < a < 90°; Wherein, the reference plane is a plane perpendicular to the rotation axis of the rotating mirror assembly (30).

3. The optical distance measuring device according to claim 2, characterized in that In the case where the one-line shape extends along the direction parallel to the reference plane, the irradiation direction of the linear light beam has a second preset included angle with the reference plane; The first detection light beam is reflected by the reflecting surface of the rotating mirror assembly (30) and irradiated along the direction parallel to the reference plane; Or, the first detection light beam is irradiated along the direction parallel to the reference plane, and the reflecting surface of the rotating mirror assembly (30) is parallel to the rotation axis of the rotating mirror assembly (30).

4. The optical distance measuring device according to claim 1, characterized in that The optical distance measuring device further comprises a driving portion (50) installed in the housing portion (10) and drivingly connected with the rotating mirror assembly (30) for driving the rotating mirror assembly (30) to rotate relative to the housing portion (10); The first light machine assembly (20) comprises a first emitter (221) for emitting the first detection light beam to the reflecting surface of the rotating mirror assembly (30), and a first receiver (222) for receiving the first detection light beam reflected by the external environment and the reflecting surface of the rotating mirror assembly (30) and obtaining corresponding first receiving data; the second light machine assembly (40) comprises a second emitter (421) for emitting the second detection light beam, and a second receiver (422) for detecting the second detection light beam reflected by the external environment and obtaining corresponding second receiving data; The optical distance measuring device further comprises five circuit board units, which are respectively a first circuit board unit, a second circuit board unit, a third circuit board unit, a fourth circuit board unit and a fifth circuit board unit; the first circuit board unit is electrically connected with the first transmitter (221) and is used for controlling the first transmitter (221) to emit a first probe light beam; the second circuit board unit is electrically connected with the first receiver (222) and is used for acquiring the first receiving data from the first receiver (222); the third circuit board unit is electrically connected with the second transmitter (421) and is used for controlling the second transmitter (421) to emit a second probe light beam; the fourth circuit board unit is electrically connected with the second receiver (422) and is used for acquiring the second receiving data from the second receiver (422); and the fifth circuit board unit is electrically connected with the driving part (50) and is used for controlling the driving part (50) to work; The five circuit board units are separately arranged and formed into five circuit boards; or, two of the five circuit board units are integrated into one circuit board, and the remaining three are separately arranged and formed into three circuit boards; or, two of the five circuit board units are integrated into a first circuit board, two of the remaining three are integrated into a second circuit board, and the last one is formed into a third circuit board; or, two of the five circuit board units are integrated into a first circuit board, and the remaining three are integrated into a second circuit board; or, three of the five circuit board units are integrated into one circuit board, and the remaining two are separately arranged and formed into two circuit boards; or, four of the five circuit board units are integrated into a first circuit board, and the remaining one is formed into a second circuit board; or, the five circuit board units are integrated into one circuit board.

5. The optical distance measuring device according to claim 4, characterized in that When two of the five circuit board units are integrated into one circuit board, and the remaining three are separately arranged and formed into three circuit boards, the first circuit board unit and the second circuit board unit are integrated into one circuit board; or, the third circuit board unit and the fourth circuit board unit are integrated into one circuit board; When two of the five circuit board units are integrated into a first circuit board, two of the remaining three are integrated into a second circuit board, and the last one is formed into a third circuit board, the first circuit board unit and the second circuit board unit are integrated into the first circuit board, and the third circuit board unit and the fourth circuit board unit are integrated into the second circuit board; When two of the five circuit board units are integrated into a first circuit board, and the remaining three are integrated into a second circuit board, the first circuit board unit and the second circuit board unit are integrated into the first circuit board, and the third circuit board unit, the fourth circuit board unit and the fifth circuit board unit are integrated into the second circuit board; or, the third circuit board unit and the fourth circuit board unit are integrated into a first circuit board, and the first circuit board unit, the second circuit board unit and the fifth circuit board unit are integrated into a second circuit board; In the case that three of the five circuit board units are integrated into one circuit board, and the other two are separately arranged to form two circuit boards, the first circuit board unit, the second circuit board unit, and the fifth circuit board unit are integrated into one circuit board; or, the third circuit board unit, the fourth circuit board unit, and the fifth circuit board unit are integrated into one circuit board; In the case that four of the five circuit board units are integrated into a first circuit board, and the other one is formed into a second circuit board, the first circuit board unit, the second circuit board unit, the third circuit board unit, and the fourth circuit board unit are integrated into the first circuit board.

6. The optical distance measuring device according to claim 4, characterized in that The first circuit board unit, the second circuit board unit, the third circuit board unit, and the fourth circuit board unit are electrically connected with the fifth circuit board unit, and the fifth circuit board unit is electrically connected with an external power supply; And / or, the first circuit board unit and the second circuit board unit are electrically connected; And / or, the third circuit board unit and the fourth circuit board unit are electrically connected.

7. The optical distance measuring device according to claim 2, characterized in that The number of the linear light beams is multiple; At least two of the linear light beams in the multiple linear light beams correspond to parallel or a third preset included angle between the linear lines, and / or the irradiation directions of at least two of the linear light beams in the multiple linear light beams are parallel or have a fourth preset included angle; The second light machine assembly includes a second emitter (421) and a second receiver (422), the second emitter (421) is used to emit the second probe light beam, and the second receiver (422) is used to detect the second probe light beam reflected by the external environment and obtain corresponding second receiving data; Wherein, the number of the second emitter (421) is one, and the second probe light beam emitted by one second emitter (421) includes multiple linear light beams, or the number of the second emitter (421) is multiple, and the second probe light beam emitted by any one of the multiple second emitters (421) includes at least one linear light beam; Wherein, the number of the second receiver (422) is equal to the number of the second emitter (421) and is arranged one by one, or the number of the second receiver (422) is less than the number of the second emitter (421), and at least one second receiver (422) is arranged corresponding to at least two second emitters (421).

8. The optical distance measuring device according to claim 1, characterized in that The first light machine assembly (20), the rotating mirror assembly (30), and the second light machine assembly (40) are sequentially arranged in a first direction, and the first direction is perpendicular to the rotation axis of the rotating mirror assembly (30); Or, the rotating mirror assembly (30), the first light machine assembly (20), and the second light machine assembly (40) are sequentially arranged in a first direction, and the first direction is perpendicular to the rotation axis of the rotating mirror assembly (30); Or, the first optical machine assembly (20) and the rotating mirror assembly (30) are sequentially arranged in a first direction, and the first optical machine assembly (20) and the second optical machine assembly (40) are sequentially arranged in a second direction; wherein the first direction is perpendicular to the rotation axis of the rotating mirror assembly (30), and the second direction is perpendicular to the rotation axis of the rotating mirror assembly (30) and the first direction; Or, the first optical machine assembly (20) and the rotating mirror assembly (30) are sequentially arranged in a first direction, and the first optical machine assembly (20) and the second optical machine assembly (40) are sequentially arranged in a third direction; wherein the first direction is perpendicular to the rotation axis of the rotating mirror assembly (30), and the third direction is parallel to the rotation axis of the rotating mirror assembly (30).

9. The optical distance measuring device according to claim 1, characterized in that The first optical machine assembly (20) and the second optical machine assembly (40) work at different times; Or, the first optical machine assembly (20) and the second optical machine assembly (40) work at the same time, the wavelengths of the first probe light beam and the second probe light beam are different, the first optical machine assembly (20) identifies the first probe light beam, and the second optical machine assembly (40) identifies the second probe light beam.

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

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