Optical distance measuring device and mobile robot

Abstract

The utility model is applicable to the technical field of optical ranging, and provides an optical ranging device and a mobile robot, the optical ranging device comprises an optical scanning assembly, and the optical scanning assembly comprises an optical machine module and a rotating mirror module which are sequentially arranged along a first direction. The rotating mirror module can rotate around the rotating axis relative to the light machine module, a detection light beam emitted by the light machine module has a first light beam scanning range after being reflected by the rotating mirror module, the first light beam scanning range is located on the first side of the rotating axis in the second direction, and the first direction, the second direction and the rotating axis are perpendicular to one another. The rotating mirror module has a light shielding state, and when the rotating mirror module rotates to the light shielding state, at least part of the detection light beam is emitted to the outside under the condition that the detection light beam is not reflected by the rotating mirror module. Therefore, not only can the first side of the rotating mirror module in the second direction be scanned and detected, but also the direction of the detection light beam emitted by the light machine module can be scanned and detected, more directions can be scanned, and the detection is more comprehensive.

Description

TECHNICAL FIELD

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

[0002] The semi-solid laser radar is a common type of laser radar, and mainly includes a laser transceiver assembly and a rotating mirror module. The laser transceiver assembly emits a light beam to the rotating mirror module, and the rotating mirror module reflects the light beam. The rotating mirror module can rotate relative to the laser transceiver assembly. During the rotation of the rotating mirror module, the rotating mirror module reflects the light beam emitted by the laser transceiver assembly to the outside for scanning. When the light beam scans an obstacle, the light beam is reflected by the obstacle to the rotating mirror module and then reflected by the rotating mirror module to the laser transceiver assembly, and finally received by the laser transceiver assembly. Through a data processor in the semi-solid laser radar, information of the emitted and received light beams is collected and analyzed and calculated, so that the obstacle scanned by the light beam can be positioned.

[0003] At present, the rotating mirror module in the traditional semi-solid laser radar can only reflect the light beam emitted by the laser transceiver assembly to a certain angle range in front for scanning, and the scanning direction is limited. Some obstacles are difficult to be recognized by the semi-solid laser radar. CONTENT OF THE INVENTION

[0004] The purpose of the embodiment of the present application is to provide an optical ranging device and a mobile robot, and to solve the technical problem of the limited scanning direction of the semi-solid laser radar in the prior art.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is to provide an optical ranging device, comprising an optical scanning assembly, wherein the optical scanning assembly comprises an optical machine module and a rotating mirror module;

[0006] The optical machine module and the rotating mirror module are arranged in sequence along a first direction, and the rotating mirror module can rotate around a rotation axis relative to the optical machine module, wherein the first direction is perpendicular to the rotation axis. The optical machine module is used for emitting a detection light beam, and the rotating mirror module is used for reflecting the detection light beam. The detection light beam emitted by the optical machine module has a first light beam scanning range after being reflected by the rotating mirror module, and the first light beam scanning range is located on a first side of the rotation axis in a second direction. The second direction is perpendicular to the rotation axis and the first direction.

[0007] During the rotation of the rotating mirror module, the rotating mirror module has a light-avoiding state. When the rotating mirror module rotates to the light-avoiding state, the detection light beam at least partially shoots to the outside without being reflected by the rotating mirror module.

[0008] In a possible design, the optical scanning assembly further includes an upper cover, and the upper cover includes a first cover body covering the rotating mirror module; at least part of a circumferential sidewall of the first cover body is a first light-transmitting portion, and the detection light beam in the first light beam scanning range is configured to be emitted to the outside through the first light-transmitting portion.

[0009] The first light-transmitting portion includes a first opening formed on the circumferential sidewall of the first cover body and open to the outside; or the first light-transmitting portion includes a first opening formed on the circumferential sidewall of the first cover body and a first light-transmitting sheet arranged on the first opening and partially covering or completely sealing the first opening; or the circumferential sidewall of the first cover body is a light-transmitting structure as a whole, and a portion of the first cover body located on the first side of the rotating axis in the second direction is formed as the first light-transmitting portion.

[0010] In a possible design, the detection light beam emitted by the optical-mechanical module and reflected by the rotating mirror module further has a second light beam scanning range, and the second light beam scanning range is located on the second side of the rotating axis in the second direction, where the first side of the second direction is opposite to the second side of the second direction.

[0011] The optical scanning assembly further includes an upper cover, and the upper cover includes a first cover body covering the rotating mirror module; at least part of a circumferential sidewall of the first cover body is a second light-transmitting portion, and the detection light beam in the second light beam scanning range is configured to be emitted to the outside through the second light-transmitting portion.

[0012] The second light-transmitting portion includes a second opening formed on the circumferential sidewall of the first cover body and open to the outside; or the second light-transmitting portion includes a second opening formed on the circumferential sidewall of the first cover body and a second light-transmitting sheet arranged on the second opening and partially covering or completely sealing the second opening; or the circumferential sidewall of the first cover body is a light-transmitting structure as a whole, and a portion of the first cover body located on the second side of the rotating axis in the second direction is formed as the second light-transmitting portion.

[0013] In a possible design, the optical scanning assembly further includes an upper cover, the upper cover includes a first cover body, the first cover body covers the rotating mirror module, at least part of a circumferential side wall of the first cover body is a third light-transmitting part, and the third light-transmitting part is located on one side of the rotating axis in the first direction; when the rotating mirror module rotates to the light-proof state, the detection light beam emitted by the optical engine module is at least partially configured to pass through the third light-transmitting part and then be emitted to the outside world.

[0014] The third light-transmitting part includes a third opening, the third opening is formed on the circumferential side wall of the first cover body, and the third opening is open.

[0015] The third light-transmitting part includes a third opening and a third light-transmitting sheet, the third opening is formed on the circumferential side wall of the first cover body, and the third light-transmitting sheet is arranged on the third opening and partially covers or completely seals the third opening.

[0016] The circumferential side wall of the first cover body is of a light-transmitting structure as a whole, and part of the first cover body located on one side of the rotating axis in the first direction is formed as the third light-transmitting part.

[0017] In a possible design, at least one side of the rotating mirror module is formed with a reflecting surface, the reflecting surface is used to reflect the detection light beam; when the rotating mirror module rotates to the light-proof state, the optical axis of the detection light beam emitted by the optical engine module is parallel to the reflecting surface.

[0018] When the rotating mirror module rotates to the light-proof state, part of the detection light beam emitted by the optical engine module is blocked by the rotating mirror module, and the other part is emitted to the outside world without being reflected by the reflecting surface, or the detection light beam emitted by the optical engine module is completely emitted to the outside world without being reflected by the reflecting surface.

[0019] In a possible design, the reflecting surface coincides with the rotating axis, or the reflecting surface is arranged to face away from the rotating axis, or the reflecting surface is arranged to face the rotating axis.

[0020] The detection light beam emitted by the optical engine module intersects the rotating axis, or the detection light beam is located on a first side of the rotating axis in the second direction, or the detection light beam is located on a second side of the rotating axis in the second direction; the first side in the second direction is opposite to the second side in the second direction.

[0021] In a possible design, the optical distance measuring device further includes a lifting driving mechanism, the lifting driving mechanism is connected with the optical scanning assembly, and the lifting driving mechanism is used to drive the optical scanning assembly to move along the extension direction of the rotating axis.

[0022] In a possible design, the optical scanning assembly further includes an upper cover, and the upper cover includes a first cover body, the first cover body includes a first top wall and a first peripheral wall, the first peripheral wall is arranged outside the rotating mirror module along at least part of an outer contour of the rotating mirror module, and the first top wall covers one side of the rotating mirror module in an extension direction of the rotating rotation axis and is connected to the first peripheral wall.

[0023] In a possible design, the optical scanning assembly further includes an upper cover, and the upper cover includes a second cover body, the second cover body includes a second top wall and a second peripheral wall, the second peripheral wall is arranged outside the optical machine module along at least part of an outer contour of the optical machine module, and the second top wall covers one side of the optical machine module in an extension direction of the rotating rotation axis and is connected to the second peripheral wall.

[0024] The application further provides a mobile robot including the optical ranging device provided in any of the technical solutions.

[0025] The optical ranging device provided in the application has the following beneficial effects compared with the prior art. On one hand, the rotating mirror module can reflect the detection light beam emitted by the optical machine module into the first light beam scanning range to scan the obstacles in the first light beam scanning range. On the other hand, when the rotating mirror module rotates to the light-proof state, the optical machine module can directly emit the detection light beam to the outside to scan the obstacles located in the direction of the detection light beam emitted by the optical machine module. Therefore, the optical ranging device provided in the application can not only scan and detect the first side of the rotating mirror module in the second direction, but also scan and detect the direction of the detection light beam emitted by the optical machine module. In this way, the optical ranging device is miniaturized, and more directions can be scanned and detected without adding more components.

[0026] The mobile robot provided in the application has the following beneficial effects compared with the prior art. Since the mobile robot provided in the application includes the optical ranging device provided in any of the technical solutions, the mobile robot has all the beneficial effects of the optical ranging device, which will not be described herein. BRIEF DESCRIPTION OF DRAWINGS

[0027] 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 the prior art description. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0028] Figure 1is an overall structure schematic diagram of an optical scanning assembly in an optical distance measuring device provided by an embodiment of the present application;

[0029] Figure 2 is an exploded schematic diagram of an optical scanning assembly in an optical distance measuring device provided by an embodiment of the present application;

[0030] Figure 3 is an overall structure schematic diagram of an optical scanning assembly in an optical distance measuring device provided by another embodiment of the present application;

[0031] Figure 4 is an overall structure schematic diagram of an optical scanning assembly in an optical distance measuring device provided by yet another embodiment of the present application;

[0032] Figure 5 is a structure schematic diagram of an upper cover in an optical distance measuring device provided by an embodiment of the present application;

[0033] Figure 6 is a schematic diagram of a mobile robot provided by an embodiment of the present application.

[0034] The label details involved in the above-mentioned drawings are as follows:

[0035] 10, mobile robot, 11, body, 100, optical scanning assembly, 110, optical machine module, 111, transmitter, 112, receiver, 120, rotating mirror module, 121, rotating mirror support, 122, reflecting mirror, 123, reflecting surface, 124, first light beam scanning range, 125, second light beam scanning range, 130, upper cover, 131, first cover body, 1311, first peripheral sidewall, 1312, first top wall, 1313, first light-transmitting part, 13131, first opening, 13132, first light-transmitting sheet, 1314, second light-transmitting part, 13141, second opening, 1315, third light-transmitting part, 13151, third opening, 13152, third light-transmitting sheet, 132, second cover body, 1321, second peripheral sidewall, 1322, second top wall, 133, cover body, 140, driving part, 150, base, 160, circuit board. DETAILED DESCRIPTION

[0036] In order to make the technical problems, technical solutions and beneficial effects of the present application more clearly understood, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] It should be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element.

[0038] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the indicated structure or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0039] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0040] Finally, it should be noted that in each of the drawings provided by the embodiments of the present application, the double-headed arrow A-A indicates the first direction, the double-headed arrow B-B indicates the second direction, and the double-headed arrow C-C indicates the extension direction of the rotation axis.

[0041] In order to illustrate the technical solutions described in the present application, the following will be described in detail in combination with specific drawings and embodiments.

[0042] As shown in Figures 1 to 6 , it is worth noting that in Figure 6In the figure, each dotted arrow represents a detection light beam. One embodiment of the present application provides an optical distance measuring device, which comprises an optical scanning assembly 100, the optical scanning assembly 100 comprising a light machine module 110 and a rotating mirror module 120. The light machine module 110 and the rotating mirror module 120 are arranged in sequence along a first direction, the rotating mirror module 120 being capable of rotating about an axis of rotation relative to the light machine module 110, wherein the first direction is perpendicular to the axis of rotation. The light machine module 110 is configured to emit a detection light beam, and the rotating mirror module 120 is configured to reflect the detection light beam. The detection light beam emitted by the light machine module 110 has a first light beam scanning range 124 after being reflected by the rotating mirror module 120, the first light beam scanning range 124 being located on a first side of the axis of rotation in a second direction. The second direction is perpendicular to the axis of rotation and the first direction. During rotation of the rotating mirror module 120, the rotating mirror module 120 has a light-avoiding state; when the rotating mirror module 120 rotates to the light-avoiding state, the detection light beam is at least partially emitted to the outside world without being reflected by the rotating mirror module 120.

[0043] The optical distance measuring device provided by the embodiment of the present application can reflect the detection light beam emitted by the light machine module 110 to the first light beam scanning range 124 through the rotating mirror module 120, so as to scan the obstacles in the first light beam scanning range 124. On the other hand, when the rotating mirror module 120 rotates to the light-avoiding state, the light machine module 110 can directly emit the detection light beam to the outside world, so as to scan the obstacles located in the direction in which the light machine module 110 emits the detection light beam. Therefore, the optical distance measuring device provided by the embodiment of the present application can not only scan and detect the first side of the rotating mirror module 120 in the second direction, but also scan and detect the direction in which the light machine module 110 emits the detection light beam. In this way, the optical distance measuring device provided by the embodiment of the present application can ensure miniaturization of the optical distance measuring device, and can also make the scannable directions more and the detection more comprehensive without increasing more components.

[0044] In the embodiment of the present application, the light machine module 110 emits the detection light beam towards the rotating mirror module 120, so that the detection light beam can be reflected by the rotating mirror module 120 to the outside. A reference plane is defined, which passes through the rotating axis and is parallel to the first direction. Since the light machine module 110 and the rotating mirror module 120 are arranged in sequence along the first direction, in the embodiment of the present application, the optical axis of the detection light beam emitted by the light machine module 110 can be arranged close to the reference plane, or even coincide with the reference plane. In this way, when the rotating mirror module 120 is not in the light-avoiding state, the detection light beam emitted by the light machine module 110 can be directed to the rotating mirror module 120 to be reflected by the rotating mirror module 120 to the outside. When the rotating mirror module 120 is in the light-avoiding state, at least part of the detection light beam emitted by the light machine module 110 can directly emit to the outside to avoid the rotating mirror module 120, so as to scan and detect the direction of the detection light beam emitted by the light machine module 110, which is close to the first direction, or even parallel to the first direction. In an example, the optical axis of the detection light beam emitted by the light machine module 110 is parallel to the first direction and arranged coincidentally with the reference plane.

[0045] In the embodiment of the present application, as shown in Figure 2 The light machine module 110 includes an emitter 111 and a receiver 112, the emitter 111 is used to emit the detection light beam, and the receiver 112 is used to receive the detection light beam. The optical scanning assembly 100 further includes a controller and a circuit board 160, the controller is installed on the circuit board 160, and the emitter 111 and the receiver 112 are electrically connected with the circuit board 160 respectively, so that the controller is signal connected with the emitter 111 and the receiver 112 respectively.

[0046] In the detection process, the emitter 111 emits the detection light beam to the rotating mirror module 120, when the rotating mirror module 120 is not in the light-avoiding state, the detection light beam can be reflected by the rotating mirror module 120 to the outside, so as to scan and detect the obstacle in the outside, when the detection light beam scans the obstacle, the obstacle reflects the detection light beam back to the rotating mirror module 120, and the rotating mirror module 120 reflects the detection light beam reflected back by the obstacle to the receiver 112 and is received by the receiver 112; when the rotating mirror module 120 is in the light-avoiding state, the detection light beam emitted by the emitter 111 directly emits to the outside to avoid the rotating mirror module 120, when the detection light beam scans the obstacle, the obstacle directly reflects the detection light beam back to the receiver 112, or the obstacle reflects the detection light beam back to the rotating mirror module 120, and the detection light beam is reflected back to the receiver 112 through the rotating mirror module 120; finally, the information of the detection light beam emitted by the emitter 111 and the information of the detection light beam received by the receiver 112 are analyzed and calculated by the controller, so as to locate the specific position of the obstacle.

[0047] In some embodiments, please refer to Figure 2The optical scanning assembly 100 further comprises a base 150, the light engine module 110 and the circuit board 160 are mounted on the base 150, and the rotating mirror module 120 is rotatably mounted on the base 150 around the rotation axis. Optionally, the base 150 further comprises a driving part 140, the driving part 140 is connected with the rotating mirror module 120, and the rotating mirror module 120 is driven to rotate around the rotation axis relative to the light engine module 110 and the base 150 by the driving part 140. Optionally, the driving part 140 can comprise a rotating motor or other structures suitable for driving the rotating mirror module 120 to rotate.

[0048] In a possible design, as shown in Figure 2 and Figure 6 , the optical scanning assembly 100 further comprises a cover 130, the cover 130 comprises a first cover body 131, and the first cover body 131 covers the rotating mirror module 120. At least part of the circumferential wall of the first cover body 131 is a first light-transmitting part 1313, the first light-transmitting part 1313 is located on the first side of the rotation axis in the second direction, and the detection light beam in the first light beam scanning range 124 is configured to be emitted to the outside through the first light-transmitting part 1313. By arranging the first cover body 131, the rotating mirror module 120 can be better protected, and by arranging at least part of the circumferential wall of the first cover body 131 as the first light-transmitting part 1313, the detection light beam can be emitted to the outside through the first light-transmitting part 1313.

[0049] In some embodiments, as shown in Figure 1 or Figure 2 , the first light-transmitting part 1313 comprises a first opening 13131, the first opening 13131 is formed on the circumferential wall of the first cover body 131, and the first opening 13131 is open, and the detection light beam can be emitted to the outside through the first opening 13131. In this arrangement, other parts of the first cover body 131 can be arranged as non-light-transmitting structures, so as to avoid stray light from entering the other light-transmitting parts of the first cover body 131 and affecting the detection effect, thereby improving the detection accuracy.

[0050] As shown in Figure 3 , the first light-transmitting part 1313 comprises the first opening 13131 and a first light-transmitting sheet 13132, the first opening 13131 is formed on the circumferential wall of the first cover body 131, and the first light-transmitting sheet 13132 is arranged on the first opening 13131 and partially covers or completely seals the first opening 13131. The first light-transmitting sheet 13132 can be made of glass, acrylic or other light-transmitting materials. By arranging the first light-transmitting sheet 13132 at the first opening 13131, a certain dustproof effect can be achieved, and the detection light beam can be emitted to the outside through the first light-transmitting sheet 13132.

[0051] As shown in Figure 4 , the circumferential wall of the first cover body 131 is entirely of a light-transmitting structure,Figure 4 The left dashed box in the middle represents the first light-transmitting part 1313, and the part of the first cover body 131 located on the first side of the rotation axis in the second direction is formed as the first light-transmitting part 1313. The light-transmitting structure can also be made of glass, acrylic or other light-transmitting materials. In this way, the dustproof effect is better, and the detection light beam can pass through the light-transmitting structure and be emitted to the outside world. In this arrangement, the first cover body 131 can be directly made of a light-transmitting material, reducing the process of arranging the first light-transmitting part 1313 on the first cover body 131 again, and the structure is simple, and the production process is also simple.

[0052] In a possible design, as shown in FIG. 13, the upper cover 130 includes a first cover body 131, which includes a first top wall 1312 and a first peripheral wall 1311 (the first peripheral wall 1311 is also the peripheral wall of the first cover body 131), and the first peripheral wall 1311 is arranged along at least part of the outer contour of the region through which the rotation mirror module 120 passes during rotation, and the first top wall 1312 covers one side of the rotation mirror module 120 in the extension direction of the rotation axis and is connected with the first peripheral wall 1311. Figure 2 The first peripheral wall 1311 is arranged along at least part of the outer contour of the region through which the rotation mirror module 120 passes during rotation, which can be understood as that the contour shape enclosed by the first peripheral wall 1311 is substantially the same as or even completely the same as the contour shape of at least part of the region through which the rotation mirror module 120 passes during rotation, and the first peripheral wall 1311 closely wraps at least part of the outer periphery of the region through which the rotation mirror module 120 passes during rotation. In this way, the space occupied by the first cover body 131 is minimized under the premise of avoiding collision between the rotation mirror module 120 and the first cover body 131 during rotation, which is conducive to miniaturization of the optical distance measuring device.

[0053] Optionally, the contour shape enclosed by the first peripheral wall 1311 can be a full-enclosing shape or a half-enclosing shape. In some examples, the shape of the region through which the rotation mirror module 120 passes during rotation is cylindrical. The contour shape enclosed by the first peripheral wall 1311 can be a full-enclosing circular shape, the first peripheral wall 1311 surrounds the outer periphery of the region through which the rotation mirror module 120 passes during rotation, and the first peripheral wall 1311 is provided with a first communication hole and a second communication hole on the side close to the light machine module 110, the first communication hole is opposite to the emitter 111, and the second communication hole is opposite to the receiver 112, so as to facilitate the emitter 111 to emit the detection light beam to the rotation mirror module 120, and facilitate the rotation mirror module 120 to reflect the detection light beam reflected from the outside world to the receiver 112. Alternatively, the contour shape enclosed by the first peripheral wall 1311 can also be a half-enclosing "C" shape, and the first peripheral wall 1311 is arranged to form a first gap facing the light machine module 110.

[0054] In a possible design, as shown in FIG. 13, the upper cover 130 includes a first cover body 131, which includes a first top wall 1312 and a first peripheral wall 1311 (the first peripheral wall 1311 is also the peripheral wall of the first cover body 131), and the first peripheral wall 1311 is arranged along at least part of the outer contour of the region through which the rotation mirror module 120 passes during rotation, and the first top wall 1312 covers one side of the rotation mirror module 120 in the extension direction of the rotation axis and is connected with the first peripheral wall 1311.Figure 2 and Figure 5 As shown in Figure 5 , the upper cover 130 further includes a second cover body 132. The second cover body 132 covers the optical engine module 110, and plays a certain protective role for the optical engine module 110 through the second cover body 132. The first cover body 131 and the second cover body 132 are connected and communicated, so that the optical engine module 110 can emit the detection beam to the rotating mirror module 120, and at the same time facilitate the rotating mirror module 120 to reflect the detection beam back to the optical engine module 110.

[0055] In a possible design, the upper cover 130 includes a second cover body 132. The second cover body 132 includes a second top wall 1322 and a second peripheral side wall 1321. The second peripheral side wall 1321 is disposed outside the optical engine module 110 along at least part of the outer contour of the optical engine module 110. The second top wall 1322 covers one side of the optical engine module 110 in the extending direction of the rotation axis and is connected to the second peripheral side wall 1321. The second peripheral side wall 1321 is disposed outside the optical engine module 110 along at least part of the outer contour of the optical engine module 110, which can be understood that the contour shape formed by the second peripheral side wall 1321 is substantially the same or even exactly the same as the partial outer contour shape of the optical engine module 110. The second peripheral side wall 1321 tightly wraps around at least part of the outer periphery of the optical engine module 110. In this way, the space occupied by the second cover body 132 is minimized as much as possible, which is beneficial to the miniaturization of the optical ranging device.

[0056] Optionally, the contour shape formed by the second peripheral side wall 1321 can be a fully enclosed shape or a semi-enclosed shape. In one example, the outer contour shape of the optical engine module 110 is generally rectangular. Optionally, the contour shape formed by the second peripheral side wall 1321 can be a fully enclosed "square" shape. A third communication hole and a fourth communication hole are provided on one side of the second peripheral side wall 1321 close to the rotating mirror module 120. When the first peripheral side wall 1311 is provided with a first communication hole and a second communication hole, the third communication hole is opposite to the first communication hole, and the fourth communication hole is opposite to the second communication hole; when the first peripheral side wall 1311 is formed with a first notch, both the third communication hole and the fourth communication hole are opposite to the first notch. Or, the contour shape formed by the second peripheral side wall 1321 can also be a semi-enclosed "匚" shape, and the second peripheral side wall 1321 is formed with a second notch. When the first peripheral side wall 1311 is provided with a first communication hole and a second communication hole, the second notch is opposite to both the first communication hole and the second communication hole at the same time; when the first peripheral side wall 1311 is formed with a first notch, the second notch is opposite to the first notch.

[0057] In some embodiments, the upper cover 130 is mounted on the base 150, the first cover body 131 of the upper cover 130 covers the mirror module 120 on the base 150, and the second cover body 132 of the upper cover 130 covers the light engine module 110 on the base 150. Optionally, the first cover body 131 and the second cover body 132 can be fixedly connected in a split manner. Alternatively, the first cover body 131 and the second cover body 132 can be connected in an integral structure in a one-piece forming manner, and the first cover body 131 and the second cover body 132 can be made of a light-transmitting material to make the production process simpler. Optionally, the upper cover 130 further includes a cover body 133, at least one of the first cover body 131 and the second cover body 132 is connected to the cover body 133, and the cover body 133 covers the part of the base 150 that is not covered by the first cover body 131 and the second cover body 132, so as to protect other structures (such as the circuit board 160) mounted on the base 150. In an example, the first cover body 131 and the second cover body 132 are respectively connected to the cover body 133. The first cover body 131 and the second cover body 132 can be connected to the cover body 133 through clamping, welding or other manners, or the first cover body 131 and the second cover body 132 can be connected to the cover body 133 in an integral structure in a one-piece forming manner.

[0058] In a possible design, as shown in Figures 2 to 6 , the detection light beam emitted by the light engine module 110 has a second light beam scanning range 125 after being reflected by the mirror module 120, and the second light beam scanning range 125 is located on the second side of the rotation axis in the second direction, where the first side in the second direction is opposite to the second side in the second direction. As shown in Figure 5 , the optical scanning assembly 100 further includes an upper cover 130, and the upper cover 130 includes a first cover body 131 covering the mirror module 120, and at least part of the peripheral side wall of the first cover body 131 is a second light-transmitting part 1314 located on the second side of the rotation axis in the second direction, and the detection light beam in the second light beam scanning range 125 is configured to be emitted to the outside after passing through the second light-transmitting part 1314. As known above, the optical distance measuring device provided by the embodiments of the present application can not only detect the first light beam scanning range 124 on the first side in the second direction and detect the direction of the detection light beam emitted by the light engine module 110, but also detect the second light beam scanning range 125 on the second side opposite to the first side in the second direction, thereby meeting the detection requirements of more directions.

[0059] Optionally, please refer to Figure 2 and Figure 5The second light-transmitting part 1314 includes a second opening 13141 formed on the circumferential sidewall of the first cover body 131, and the second opening 13141 is open, and the detection light beam can pass through the second opening 13141 to the outside. In this arrangement, the first cover body 131 can be configured as a non-light-transmitting structure except for the first opening 13131 and the second opening 13141, so as to avoid stray light from entering the first cover body 131 through other light-transmitting parts to affect the detection effect, and facilitate to improve the detection accuracy. Alternatively, the second light-transmitting part 1314 includes the second opening 13141 and a second light-transmitting sheet, the second opening 13141 is formed on the circumferential sidewall of the first cover body 131, and the second light-transmitting sheet is arranged on the second opening 13141 and partially covers or completely seals the second opening 13141. The second light-transmitting sheet can be made of glass, acrylic or other light-transmitting materials. By arranging the second light-transmitting sheet at the second opening 13141, a certain dustproof effect can be achieved, and the detection light beam can pass through the second light-transmitting sheet to the outside. Alternatively, the circumferential sidewall of the first cover body 131 is integrally configured as a light-transmitting structure, and the part of the first cover body 131 located on the second side of the rotation axis in the second direction is configured as the second light-transmitting part 1314.

[0060] In a possible design, as shown in Figure 2 and Figure 5 , the optical scanning assembly 100 further includes an upper cover 130, and the upper cover 130 includes a first cover body 131, and the first cover body 131 covers the rotating mirror module 120; at least part of the circumferential sidewall of the first cover body 131 is a third light-transmitting part 1315, and the third light-transmitting part 1315 is located on one side of the rotation axis in the first direction. When the rotating mirror module 120 is rotated to the light-avoiding state, the detection light beam emitted by the light machine module 110 is at least partially configured to pass through the third light-transmitting part 1315 and then be emitted to the outside. By arranging the third light-transmitting part 1315, the detection light beam emitted by the light machine module 110 can directly pass through the third light-transmitting part 1315 and be emitted to the outside when the rotating module is in the light-avoiding state.

[0061] In a possible design, as shown in Figure 1 and Figure 2 , the third light-transmitting part 1315 includes a third opening 13151 formed on the circumferential sidewall of the first cover body 131, and the third opening 13151 is open, and the detection light beam can pass through the third opening 13151 to the outside. In this arrangement, the first cover body 131 can be configured as a non-light-transmitting structure except for the first opening 13131, the second opening 13141 and the third opening 13151, so as to avoid stray light from entering the first cover body 131 through other light-transmitting parts to affect the detection effect, and facilitate to improve the detection accuracy. Alternatively, as shown in Figure 3The third light-transmitting section 1315 includes a third opening 13151 and a third light-transmitting sheet 13152. The third opening 13151 is formed on the peripheral sidewall of the first cover 131. The third light-transmitting sheet 13152 is disposed at the third opening 13151 and partially covers or completely seals the third opening 13151. The third light-transmitting sheet 13152 can be made of glass, acrylic, or other light-transmitting materials. By providing the third light-transmitting sheet 13152 at the third opening 13151, a certain degree of dust prevention can be achieved, and the detection beam can pass through the third light-transmitting sheet 13152 and be emitted to the outside. Alternatively, please refer to... Figure 4 The perimeter walls of the first cover 131 are entirely transparent. Figure 4 The area enclosed by the dashed box on the right side is designated as the third light-transmitting part 1315. The portion of the first cover 131 located on one side of the rotation axis in the first direction is formed as the third light-transmitting part 1315.

[0062] In one possible design, such as Figure 2 As shown, at least one side of the rotating mirror module 120 has a reflecting surface 123, which is used to reflect the detection beam. When the rotating mirror module 120 is rotated to a light-shielding state, the optical axis of the detection beam emitted by the optomechanical module 110 is parallel to the reflecting surface 123. When the optical axis of the detection beam emitted by the optomechanical module 110 is parallel to the reflecting surface 123, the detection beam cannot be reflected by the reflecting surface 123. Therefore, the rotating mirror module 120 is in a light-shielding state at this time. It is worth noting that after the detection beam is emitted from the optomechanical module 110, its cross-sectional shape can be a circle, rectangle, ellipse, or other shapes with a certain area, and no specific limitation is made here.

[0063] When the rotating mirror module 120 is rotated to the light-shielding state, part of the detection beam emitted by the optomechanical module 110 is blocked by the rotating mirror module 120 and the other part is emitted to the outside without being reflected by the reflecting surface 123, or the detection beam emitted by the optomechanical module 110 is emitted to the outside without being reflected by the reflecting surface 123.

[0064] In some embodiments, such as Figure 2As shown, the rotating mirror module 120 includes a mirror 122, and the mirror 122 is provided with a reflecting surface 123 on one side in a direction perpendicular to the rotation axis. Optionally, the rotating mirror module 120 further includes a rotating mirror bracket 121, and the mirror 122 is mounted on the rotating mirror bracket 121, and the rotating mirror bracket 121 is rotationally mounted on the base 150 and connected with the driving part 140. The mirror 122 and the rotating mirror bracket 121 are both solid structures with a certain thickness. When the rotating mirror module 120 is rotated to the light-proof state, part of the detection light beam is blocked by the mirror 122 or the rotating mirror bracket 121, and the other part can be emitted from the side of the mirror 122 away from the reflecting surface 123 or the side of the mirror 122 provided with the reflecting surface 123 to the outside along a direction parallel to the reflecting surface 123; or the whole detection light beam can be emitted from the side of the mirror 122 away from the reflecting surface 123 or the side of the mirror 122 provided with the reflecting surface 123 to the outside along a direction parallel to the reflecting surface 123.

[0065] In a possible design, the reflecting surface 123 coincides with the rotation axis. During the rotation of the rotating mirror module 120, the reflecting surface 123 can always coincide with the rotation axis. In this way, no matter whether the detection light beam is emitted from the first side in the second direction or from the second side in the second direction after being reflected by the reflecting surface 123, the detection light beam has a large emission range, i.e., the detection light beam can have a large first light beam scanning range 124 and a second light beam scanning range 125 after being reflected by the reflecting surface 123. In other possible designs, the reflecting surface 123 can be arranged to face away from the rotation axis, or the reflecting surface 123 can be arranged to face the rotation axis.

[0066] Optionally, the detection light beam emitted by the light machine module 110 intersects with the rotation axis. In this way, during the rotation of the rotating mirror module 120, no matter whether the detection light beam is emitted from the first side in the second direction or from the second side in the second direction after being reflected by the reflecting surface 123, the detection light beam has a large emission range, i.e., the detection light beam can have a large first light beam scanning range 124 and a second light beam scanning range 125 after being reflected by the reflecting surface 123. Alternatively, the detection light beam emitted by the light machine module 110 is located on the first side of the rotation axis in the second direction, or the detection light beam emitted by the light machine module 110 is located on the second side of the rotation axis in the second direction.

[0067] In a possible design, the optical distance measuring device further comprises a lifting driving mechanism (not shown in the figure) connected with the optical scanning assembly 100, and the lifting driving mechanism is configured to drive the optical scanning assembly 100 to move along the extension direction of the rotation axis. When the optical distance measuring device provided in the embodiments of the present application is applied to an external device, the optical distance measuring device is installed inside the external device, the external device is provided with a light-transmitting structure on the first side in the second direction, and the external device is formed with a via hole for the optical scanning assembly 100 to move out. The lifting driving mechanism can drive the optical scanning assembly 100 to extend out of the external device or retract into the external device through the via hole. When only the first side in the second direction needs to be scanned and detected, the detection light beams emitted by the optical-mechanical module 110 can be reflected by the rotating mirror module 120 and then transmitted to the first side in the second direction through the light-transmitting structure on the external device, so as to scan and detect the first light beam scanning range 124. When detection needs to be performed on a direction other than the first side in the second direction, for example, when scanning and detection needs to be performed on the second side in the second direction or on a side in the first direction, the lifting driving mechanism can be used to drive the optical scanning assembly 100 to move along the extension direction of the rotation axis and out of the external device, so as to facilitate scanning and detection on the second side in the second direction or on a side in the first direction. When scanning and detection does not need to be performed on the external device or only needs to be performed on the first side in the second direction, the lifting driving mechanism can be used to drive the optical scanning assembly 100 to retract into the external device, so as to reduce the occupied space of the external device and protect the optical distance measuring device.

[0068] Another embodiment of the present application provides a mobile robot 10, as shown in Figure 1 、 Figure 2 and Figure 6 , comprising the optical distance measuring device provided in any of the above embodiments. Since the mobile robot 10 of the present application comprises the optical distance measuring device provided in any of the above embodiments, at least all the beneficial effects described above are achieved, and thus repeated description is omitted herein. In the embodiments of the present application, the mobile robot 10 can be a sweeping robot or other movable robot, and is not limited to be only the sweeping robot.

[0069] In an embodiment, the mobile robot 10 further comprises a body 11 having a mounting cavity, and the optical distance measuring device is located in the mounting cavity. Specifically, the lifting driving mechanism in the optical distance measuring device is connected with the inner wall of the mounting cavity and the base 150 in the optical scanning assembly 100, respectively. The body 11 is formed with a via hole in communication with the mounting cavity, and the axis of the via hole is parallel to the rotation axis. The lifting driving mechanism is configured to drive the optical scanning assembly 100 to move along the extension direction of the rotation axis, so that the optical scanning assembly 100 can extend out of or retract into the mounting cavity through the via hole.

[0070] In some embodiments, the second direction is specifically a front-rear direction of the mobile robot 10. Specifically, the first side in the second direction is a front side of the mobile robot 10, the second side in the second direction is a rear side of the mobile robot 10, and the first direction is a left-right direction of the mobile robot 10. The side wall of the body 11 located at the front side of the mounting cavity can be provided as a light-transmitting structure. When only the front side of the mobile robot 10 needs to be scanned, the optical scanning assembly 100 can be located in the mounting cavity to scan the front side of the mobile robot 10; when the rear side or the right side (or the left side) of the mobile robot 10 needs to be scanned, the optical scanning assembly 100 can be driven by the lifting driving mechanism to extend out of the mounting cavity through the through hole to scan the rear side or the right side (or the left side) of the robot.

[0071] The above only describes optional embodiments of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An optical ranging device, characterized in that, It includes an optical scanning assembly (100), which includes an optomechanical module (110) and a rotating mirror module (120); The optomechanical module (110) and the rotating mirror module (120) are arranged sequentially along a first direction. The rotating mirror module (120) is rotatable relative to the optomechanical module (110) about a rotation axis, wherein the first direction is perpendicular to the rotation axis. The optomechanical module (110) is used to emit a detection beam, and the rotating mirror module (120) is used to reflect the detection beam. The detection beam emitted by the optomechanical module (110) has a first beam scanning range (124) after being reflected by the rotating mirror module (120). The first beam scanning range (124) is located on a first side of the rotation axis in a second direction, wherein the second direction is perpendicular to both the rotation axis and the first direction. During the rotation of the rotating mirror module (120), the rotating mirror module (120) is in a light-shielding state; when the rotating mirror module (120) is rotated to the light-shielding state, the detection beam is at least partially emitted to the outside without being reflected by the rotating mirror module (120).

2. The optical ranging device as described in claim 1, characterized in that, The optical scanning assembly (100) further includes a top cover (130), the top cover (130) including a first cover (131), the first cover (131) covering the rotating mirror module (120); at least a portion of the peripheral sidewall of the first cover (131) is a first light-transmitting portion (1313), the first light-transmitting portion (1313) is located on the first side of the rotation axis in the second direction, and the detection beam within the first beam scanning range (124) is configured to pass through the first light-transmitting portion (1313) and then be emitted to the outside; The first light-transmitting portion (1313) includes a first opening (13131), which is formed on the peripheral sidewall of the first cover (131) and is open; or, the first light-transmitting portion (13133) includes a first opening (13131) and a first light-transmitting sheet (13132), which is formed on the peripheral sidewall of the first cover (131) and is disposed on the first opening (13131) and partially covers or completely seals the first opening (13131); or, the peripheral sidewall of the first cover (131) is entirely a light-transmitting structure, and the portion of the first cover (131) located on the first side of the rotation axis in the second direction is formed as the first light-transmitting portion (1313).

3. The optical ranging device as described in claim 1, characterized in that, The detection beam emitted by the optomechanical module (110) is reflected by the rotating mirror module (120) and has a second beam scanning range (125). The second beam scanning range (125) is located on the second side of the rotation axis in the second direction, wherein the first side in the second direction is opposite to the second side in the second direction. The optical scanning assembly (100) further includes a top cover (130), the top cover (130) including a first cover (131), the first cover (131) covering the rotating mirror module (120); at least a portion of the peripheral sidewall of the first cover (131) is a second light-transmitting portion (1314), the second light-transmitting portion (1314) is located on the second side of the rotation axis in the second direction, and the detection beam within the second beam scanning range (125) is configured to pass through the second light-transmitting portion (1314) and then be emitted to the outside; The second light-transmitting portion (1314) includes a second opening (13141), which is formed on the peripheral sidewall of the first cover (131) and is open; or, the second light-transmitting portion (1314) includes a second opening (13141) and a second light-transmitting sheet, which is formed on the peripheral sidewall of the first cover (131) and is disposed on the second opening (13141) and partially covers or completely seals the second opening (13141); or, the peripheral sidewall of the first cover (131) is entirely a light-transmitting structure, and the portion of the first cover (131) located on the second side of the rotation axis in the second direction is formed as the second light-transmitting portion (1314).

4. The optical ranging device as described in claim 1, characterized in that, The optical scanning assembly (100) further includes a top cover (130), which includes a first cover (131) covering the rotating mirror module (120). At least a portion of the peripheral sidewall of the first cover (131) is a third light-transmitting portion (1315), which is located on one side of the rotation axis in the first direction. When the rotating mirror module (120) is rotated to a light-shielding state, at least a portion of the detection beam emitted by the optomechanical module (110) is configured to pass through the third light-transmitting portion (1315) and then be emitted to the outside. The third light-transmitting portion (1315) includes a third opening (13151), which is formed on the peripheral sidewall of the first cover (131) and is open; or, the third light-transmitting portion (1315) includes a third opening (13151) and a third light-transmitting sheet (13152), which is formed on the peripheral sidewall of the first cover (131) and is disposed on the third opening (13151) and partially covers or completely seals the third opening (13151); or, the peripheral sidewall of the first cover (131) is entirely a light-transmitting structure, and the portion of the first cover (131) located on one side of the rotation axis in the first direction is formed as the third light-transmitting portion (1315).

5. The optical ranging device according to any one of claims 1 to 4, characterized in that, At least one side of the rotating mirror module (120) is formed with a reflective surface (123), which is used to reflect the detection beam; when the rotating mirror module (120) is rotated to a light-shielding state, the optical axis of the detection beam emitted by the optomechanical module (110) is parallel to the reflective surface (123). When the rotating mirror module (120) is rotated to the light-shielding state, a portion of the detection beam emitted by the optomechanical module (110) is blocked by the rotating mirror module (120) and another portion is emitted to the outside without being reflected by the reflective surface (123), or the detection beam emitted by the optomechanical module (110) is emitted to the outside without being reflected by the reflective surface (123).

6. The optical ranging device as described in claim 5, characterized in that, The reflective surface (123) coincides with the rotation axis, or the reflective surface (123) is set away from the rotation axis, or the reflective surface (123) is set facing the rotation axis. The detection beam emitted by the optomechanical module (110) intersects with the rotation axis, or the detection beam emitted by the optomechanical module (110) is located on the first side of the rotation axis in the second direction, or the detection beam emitted by the optomechanical module (110) is located on the second side of the rotation axis in the second direction; wherein the first side in the second direction is opposite to the second side in the second direction.

7. The optical ranging device according to any one of claims 1 to 4, characterized in that, The optical ranging device further includes a lifting drive mechanism, which is connected to the optical scanning component (100). The lifting drive mechanism is used to drive the optical scanning component (100) to move along the extension direction of the rotation axis.

8. The optical ranging device according to any one of claims 1 to 4, characterized in that, The optical scanning assembly (100) further includes a top cover (130), the top cover (130) including a first cover (131), the first cover (131) including a first top wall (1312) and a first peripheral side wall (1311), the first peripheral side wall (1311) surrounds at least a portion of the outer contour of the area traversed by the rotating mirror module (120) during rotation, and the first top wall (1312) covers one side of the rotating mirror module (120) in the extension direction of the rotation axis and is connected to the first peripheral side wall (1311).

9. The optical ranging device according to any one of claims 1 to 4, characterized in that, The optical scanning assembly (100) further includes a top cover (130), the top cover (130) including a second cover (132), the second cover (132) including a second top wall (1322) and a second peripheral side wall (1321), the second peripheral side wall (1321) surrounding the optical engine module (110) along at least a portion of the outer contour of the optical engine module (110), the second top wall (1322) covering one side of the optical engine module (110) in the extension direction of the rotation axis and connected to the second peripheral side wall (1321).

10. A mobile robot, characterized in that, Includes the optical ranging device as described in any one of claims 1 to 9.

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