Shell assembly, optical distance measuring device and mobile robot

Abstract

The utility model discloses a shell assembly, an optical distance measuring device and a mobile robot. The shell assembly comprises a middle shell, an optical channel structure and a diaphragm structure. The optical channel structure is arranged on the upper side of the middle shell, the optical channel structure comprises two first channel plates which extend in the first direction and are arranged in a spaced mode in the second direction, and the two first channel plates jointly define an emission channel; the diaphragm structure and the emission channel are opposite in the first direction, the diaphragm structure defines a diaphragm opening, the diaphragm opening is communicated with the emission channel, and the detection light beam in the emission channel can be emitted to the outside through the diaphragm opening from the first horizontal end part. Wherein in the vertical direction, the size of the diaphragm opening is smaller than the size of the transmitting channel at the first horizontal end part, and / or in the second direction, the size of the diaphragm opening is smaller than the size of the transmitting channel at the first horizontal end part. The housing assembly of the utility model can reduce the possibility of crosstalk caused by reflection of the detection light beam before the detection light beam is emitted to an external object.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot equipment technical field especially is related to a casing assembly, optical ranging device and mobile robot. BACKGROUND

[0002] The middle shell of the optical ranging device (such as laser radar) is provided with an optical channel structure, the optical channel structure defines a transmitting channel and a receiving channel, the transmitting channel is used to emit a detection beam to an external object, and the receiving channel is used to receive the detection beam reflected back by the external object. In the related art, since the cross section of the transmitting channel in the up-down direction is large, the detection range of the detection beam passing through the transmitting channel is also large, which causes the detection beam to be easily reflected back to the receiving channel by the inner side wall of the upper cover, the shell wall of the mobile robot and other structures before being shot at the external object, resulting in crosstalk. SUMMARY

[0003] The utility model discloses at least one of the technical problems existing in the prior art. To this end, the utility model provides a casing assembly, optical ranging device and mobile robot, which can reduce the possibility of crosstalk caused by the reflection of the detection beam before being shot at the external object.

[0004] According to the casing assembly of the first aspect of the utility model embodiment, the casing assembly comprises:

[0005] The middle shell;

[0006] The optical channel structure is arranged on the upper side of the middle shell, and the optical channel structure comprises two first channel plates, the two first channel plates extend along a first direction respectively, and the two first channel plates are arranged in a spaced manner along a second direction, the two first channel plates jointly define a transmitting channel, the first direction, the second direction and the up-down direction are perpendicular to each other, or the first direction and the second direction are perpendicular and the first direction and the second direction are arranged at an angle with the up-down direction respectively;The first channel plate has a first horizontal end portion along the first direction;

[0007] The diaphragm structure is opposite to the transmitting channel along the first direction, the diaphragm structure defines a diaphragm opening, the diaphragm opening and the transmitting channel are communicated, and the detection beam in the transmitting channel can be emitted to the outside through the diaphragm opening from the first horizontal end portion;

[0008] Wherein, the size of the diaphragm opening along the up-down direction is less than the size of the transmitting channel at the first horizontal end portion along the up-down direction, and / or the size of the diaphragm opening along the second direction is less than the size of the transmitting channel at the first horizontal end portion along the second direction.

[0009] According to the casing assembly of the utility model embodiment, at least the following technical effects are achieved:

[0010] By setting the diaphragm structure, and making the diaphragm opening of the diaphragm structure smaller than the size of the emission channel at the first horizontal end in the up-down direction, and / or the size of the diaphragm opening in the second direction is smaller than the size of the emission channel at the first horizontal end in the second direction, so that the diaphragm structure partially covers the emission channel in the first direction, narrows the opening of the emission channel at the first horizontal end, when the detection light beam in the emission channel is emitted from the first horizontal end to the outside through the diaphragm opening, the diaphragm opening can reduce the detection light beam passing through it and form a smaller light spot on the diaphragm opening to emit to the outside, reduce the possibility of crosstalk caused by the detection light beam being reflected back by the inner side wall of the upper cover, the shell wall of the mobile robot and other structures before being emitted to the outside object, help to improve the accuracy of the ranging result of the optical ranging device, and the reduction of the light spot helps the optical ranging device to realize smaller resolution.

[0011] According to some embodiments of the present application,

[0012] The diaphragm structure and the first horizontal end are integrally formed, or the diaphragm structure and the first horizontal end are separate and fixedly connected.

[0013] Or, the diaphragm structure and the middle shell are integrally formed, or the diaphragm structure and the middle shell are separate and fixedly connected.

[0014] Or, the shell assembly further comprises an upper cover, the upper cover is installed on the middle shell, the diaphragm structure and the upper cover are integrally formed, or the diaphragm structure and the upper cover are separate and fixedly connected.

[0015] According to some embodiments of the present application, the shell assembly further comprises an upper cover, the upper cover is installed on the middle shell.

[0016] The diaphragm structure comprises an upper diaphragm part and a lower diaphragm part.

[0017] The upper diaphragm part and the upper cover are integrally formed, or the upper diaphragm part and the upper cover are separate and fixedly connected.

[0018] The lower diaphragm part and the first horizontal end are integrally formed, or the lower diaphragm part and the first horizontal end are separate and fixedly connected; and / or the lower diaphragm part and the middle shell are integrally formed, or the lower diaphragm part and the middle shell are separate and fixedly connected.

[0019] The upper diaphragm part and the lower diaphragm part are opposite to the emission channel in the first direction, and the upper diaphragm part, the lower diaphragm part and the first horizontal end jointly define the diaphragm opening.

[0020] According to some embodiments of the present application, the side of the upper cover is formed with a window, and the window and the emission channel are opposite in the first direction.

[0021] The window sheet is accommodated in the second groove.

[0022] According to some embodiments of the present application, the upper edge of the window is connected with the upper light barrier part, and the side wall surface of the upper light barrier part away from the emission channel is flush with the side wall surface of the second groove away from the emission channel.

[0023] And / or, a gap is arranged between the lower light barrier part and the window sheet.

[0024] And / or, the side of the lower edge of the window facing the optical channel structure downwardly defines a third groove, and the lower end of the first horizontal end part and part of the lower light barrier part are accommodated in the third groove.

[0025] According to some embodiments of the present application, the optical channel structure further comprises a second channel plate, the second channel plate extends along the first direction, the second channel plate and the two first channel parts are arranged at intervals along the second direction, and the second channel plate is arranged on the side of the two first channel plates away from the emission channel, the second channel plate and the adjacent one of the first channel plates jointly define a receiving channel, and the window is opposite to the emission channel and the receiving channel along the first direction, respectively.

[0026] According to some embodiments of the present application, the two first channel plates and the middle shell are integrally formed; the first horizontal end parts of the two first channel plates define a first draw-off opening therebetween, and the distance between the two first channel plates gradually decreases in a direction away from the first draw-off opening; or, the first channel plate has a second horizontal end part opposite to the first horizontal end part along the first direction, the second horizontal end parts of the two first channel plates define a first draw-off opening therebetween, and the distance between the two first channel plates gradually decreases in a direction away from the first draw-off opening; or, the two first channel plates have first vertical end parts opposite to the middle shell along the up-down direction, the first vertical end parts of the two first channel plates define a first draw-off opening therebetween, and the distance between the two first channel plates gradually decreases in a direction away from the first draw-off opening.

[0027] And / or, the optical channel structure comprises a second channel plate, the second channel plate extends along the first direction, the second channel plate and the two first channel parts are spaced apart along the second direction, and the second channel plate is located on a side of the first channel plate away from the emission channel, the second channel plate and an adjacent one of the first channel plates jointly define a receiving channel, and the second channel plate has a third horizontal end portion along the first direction; wherein the first channel plate, the second channel plate and the middle shell are integrally formed, a second draw-off opening is defined between the third horizontal end portion of the second channel plate and the first horizontal end portion of the adjacent one of the first channel plates, and the distance between the second channel plate and the adjacent one of the first channel plates gradually decreases in a direction away from the second draw-off opening; or, the first channel plate has a second horizontal end portion opposite to the first horizontal end portion along the first direction, the second channel plate has a fourth horizontal end portion opposite to the third horizontal end portion along the first direction, a second draw-off opening is defined between the fourth horizontal end portion of the second channel plate and the second horizontal end portion of the adjacent one of the first channel plates, and the distance between the second channel plate and the adjacent one of the first channel plates gradually decreases in a direction away from the second draw-off opening; or, a second draw-off opening is defined between the upper end of the second channel plate and the upper end of the adjacent one of the first channel plates, and the distance between the second channel plate and the adjacent one of the first channel plates gradually decreases in a direction away from the second draw-off opening.

[0028] According to the optical distance measuring device of the second aspect of the present application, the optical distance measuring device comprises a base and the shell assembly as in any one of the above embodiments, and the shell assembly is mounted on the base.

[0029] According to the mobile robot of the third aspect of the present application, the mobile robot comprises a mobile robot body and the optical distance measuring device as described above, and the optical distance measuring device is arranged on the mobile robot body.

[0030] Additional aspects and advantages of the present application will be given in part in the following description, some of which will become apparent from the following description, or will be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0031] The present application will be further described below in conjunction with the drawings and embodiments, wherein:

[0032] Figure 1 FIG. 1 is a structural schematic view of a mobile robot according to an embodiment of the present application;

[0033] Figure 2 FIG. 2 is a structural perspective view of an optical distance measuring device according to an embodiment of the present application;

[0034] Figure 3 FIG. 3 is an exploded view of the optical distance measuring device shown in FIG. 2; Figure 2

[0035] Figure 4 ​For Figure 3 The structural perspective view of the middle shell, optical channel structure and diaphragm structure shown in the figure;

[0036] Figure 5 The structural perspective view of the shell assembly of another embodiment of the utility model;

[0037] Figure 6 For Figure 5 The structural exploded view of the shell assembly shown in the figure;

[0038] Figure 7 For Figure 5 The sectional view of the shell assembly shown in the figure;

[0039] Figure 8 For Figure 7 The enlarged view of A part shown in the figure;

[0040] Figure 9 For Figure 7 The enlarged view of B part shown in the figure;

[0041] Figure 10 For Figure 6 The top view of the middle shell and optical channel structure shown in the figure.

[0042] Reference signs:

[0043] Mobile robot 300; mobile robot body 310;

[0044] Optical distance measuring device 200; base 210; optical transceiver 220;

[0045] Shell assembly 100;

[0046] Middle shell 10;

[0047] Optical channel structure 20; first channel plate 21; first horizontal end 211; second horizontal end 212; emission channel 201; first recess 202; second channel plate 22; third horizontal end 221; fourth horizontal end 222; receiving channel 203; first draw port 204; second draw port 205;

[0048] Diaphragm structure 30; upper diaphragm part 31; lower diaphragm part 32; diaphragm opening 301;

[0049] Upper cover 40; window 401; second recess 402; third recess 403;

[0050] Window sheet 50;

[0051] First direction X; second direction Y; up-down direction Z. DETAILED DESCRIPTION

[0052] Embodiments of the present application will be described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are for the purpose of explanation only and are not to be taken as limiting the present application.

[0053] In the description of the present application, it should be understood that, in relation to the orientation description, for example, the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0054] In the description of the present application, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of technical features indicated.

[0055] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0056] In the description of the present application, the description of the reference terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0057] Please refer to Figures 1 to 10 , the following detailed description of the shell assembly 100, the optical distance measuring device 200 and the mobile robot 300 according to the embodiment of the present application.

[0058] As Figure 1As shown, the mobile robot 300 comprises a robot body 310 and an optical distance measuring device 200, and the optical distance measuring device 200 is arranged on the robot body 310. The mobile robot 300 measures the distance of external objects through the optical distance measuring device 200, thereby realizing self-walking. The mobile robot 300 can be a cleaning mobile robot 300 with functions such as sweeping and mopping, can be a service mobile robot 300 with functions such as meal delivery and object delivery, can be a mowing mobile robot 300 with a mowing function, can be a carrying mobile robot 300 for carrying goods in a warehouse or factory, and the like.

[0059] As shown in Figure 2 and Figure 3 As shown, the optical distance measuring device 200 comprises a housing assembly 100, a base 210, and a light transceiver 220. The housing assembly 100 is arranged on the base 210. The light transceiver 220 is arranged on the base 210 and / or the housing assembly 100, and the light transceiver 220 is used to emit and receive detection light beams.

[0060] Please refer to Figure 4 The housing assembly 100 comprises a middle shell 10, an optical channel structure 20, and an aperture structure 30. The optical channel structure 20 is arranged on the upper side of the middle shell 10, and the optical channel structure 20 comprises two first channel plates 21, the two first channel plates 21 respectively extend along a first direction X, and the two first channel plates 21 are arranged in a spaced manner along a second direction Y, and the two first channel plates 21 jointly define an emission channel 201, the first direction X, the second direction Y, and an up-down direction Z are perpendicular to each other, or the first direction X and the second direction Y are perpendicular to each other and are arranged at an angle with the up-down direction Z respectively, and the angle between the first direction X and the up-down direction Z can be different from the angle between the second direction Y and the up-down direction Z; the first channel plate 21 has a first horizontal end portion 211 along the first direction X. The aperture structure 30 and the emission channel 201 are opposite along the first direction X, the aperture structure 30 defines an aperture opening 301, the aperture opening 301 and the emission channel 201 are in communication, and the detection light beams in the emission channel 201 can be emitted to the outside through the aperture opening 301 from the first horizontal end portion 211; wherein the size of the aperture opening 301 along the up-down direction Z is smaller than the size of the emission channel 201 along the up-down direction Z at the first horizontal end portion 211, or the size of the aperture opening 301 along the second direction Y is smaller than the size of the emission channel 201 along the second direction Y at the first horizontal end portion 211, or the size of the aperture opening 301 along the up-down direction Z is smaller than the size of the emission channel 201 along the up-down direction Z at the first horizontal end portion 211, and the size of the aperture opening 301 along the second direction Y is smaller than the size of the emission channel 201 along the second direction Y at the first horizontal end portion 211.

[0061] In the embodiment of the utility model, through setting diaphragm structure 30, and make diaphragm structure 30's diaphragm mouth 301 along the dimension of up-down direction Z is less than the dimension of emission channel 201 at first horizontal end 211 along up-down direction Z, and / or, diaphragm mouth 301 along the dimension of second direction Y is less than the dimension of emission channel 201 at first horizontal end 211 along second direction Y, thus, diaphragm structure 30 is partially covered to emission channel 201 in first direction X, thereby narrowing the opening of emission channel 201 at first horizontal end 211, when the detection light beam in emission channel 201 passes diaphragm mouth 301 and emits to outside from first horizontal end 211, diaphragm mouth 301 can reduce the detection light beam passing through it and make the detection light beam form a smaller spot at diaphragm mouth 301 to emit to outside, reduce the possibility of crosstalk caused by the detection light beam being reflected back by the inner side wall of upper cover 40, the shell wall of mobile robot 300 and other structures before shooting to outside object, help to improve the accuracy of ranging result of optical distance measuring device 200, and the reduction of spot helps optical distance measuring device 200 to realize smaller resolution.

[0062] It can be understood that the diaphragm structure 30 can be connected to the corresponding structure according to actual needs, so that the diaphragm structure 30 is fixed relative to the optical channel structure 20. Specifically, as shown in Figure 3 and Figure 4 In some embodiments, the diaphragm structure 30 and the first horizontal end 211 are integrally formed; or the diaphragm structure 30 and the first horizontal end 211 are separately connected. In other embodiments, the diaphragm structure 30 and the middle shell 10 are integrally formed; or the diaphragm structure 30 and the middle shell 10 are separately connected. In other embodiments, the shell assembly 100 further includes an upper cover 40 mounted to the middle shell 10, and the diaphragm structure 30 and the upper cover 40 are integrally formed; or the diaphragm structure 30 and the upper cover 40 are separately connected.

[0063] As shown in Figure 3 and Figure 4As shown in the drawings, in some embodiments, the upper cover 40 is further included, and the upper cover 40 is mounted to the middle shell 10. The diaphragm structure 30 includes an upper diaphragm part 31 and a lower diaphragm part 32. The upper diaphragm part 31 is integrally formed with the upper cover 40, or the upper diaphragm part 31 is separately formed and fixedly connected with the upper cover 40. The lower diaphragm part 32 is integrally formed with the first horizontal end part 211, or the lower diaphragm part 32 is separately formed and fixedly connected with the first horizontal end part 211, and / or the lower diaphragm part 32 is integrally formed with the middle shell 10, or the lower diaphragm part 32 is separately formed and fixedly connected with the middle shell 10. The upper diaphragm part 31 and the lower diaphragm part 32 are opposite to the emitting channel 201 along the first direction X, and the upper diaphragm part 31, the lower diaphragm part 32 and the first horizontal end part 211 jointly define a diaphragm opening 301. That is to say, the diaphragm opening 301 is located between the upper diaphragm part 31 and the lower diaphragm part 32 and between the first horizontal end parts 211 of the two first channel plates 21.

[0064] As shown in the drawings, Figures 5 to 8 In some embodiments, the upper end of the first horizontal end part 211 downwardly defines a first recess 202, and the upper diaphragm part 31 is accommodated in the first recess 202. In this way, the upper diaphragm part 31 can be prevented from excessively protruding the first horizontal end part 211 in the first direction X. Even more, the side wall surface of the upper diaphragm part 31, which is away from the emitting channel 201, can be flush with the end surface of the first horizontal end part 211 along the first direction X, or the side wall surface of the upper diaphragm part 31, which is away from the emitting channel 201, is farther away from the side part 41 of the upper cover 40 than the end surface of the first horizontal end part 211 along the first direction X, so that the structure between the upper diaphragm part 31 and the first horizontal end part 211 is more compact.

[0065] In some embodiments, the end surface of the first horizontal end part 211 along the first direction X is located at the lower side of the first recess 202.

[0066] As shown in the drawings, Figures 6 to 8 In some embodiments, the side part 41 of the upper cover 40 is formed with a window 401, and the window 401 is opposite to the emitting channel 201 along the first direction X. The upper diaphragm part 31 is connected with the upper edge of the window 401, and the detection light beams in the emitting channel 201 are sequentially transmitted through the diaphragm opening 301 and the window 401 to emit to the external object. The detection light beams reflected by the external object are transmitted into the receiving channel 203 through the window 401. In combination with the design that the upper diaphragm part 31 is accommodated in the first recess 202 of the first horizontal end part 211, when the mobile robot 300 falls / collides, the first horizontal end part 211 of the first channel plate 21 of the optical channel structure 20 connected with the middle shell 10 can provide a certain buffering effect for the upper diaphragm part 31 connected with the upper cover 40, and the structural stability between the middle shell 10 and the upper cover 40 is improved.

[0067] As shown in the drawings, Figures 6 to 8As shown, in some embodiments, the side portion 41 of the upper cover 40 is formed with a window 401, and the window 401 and the emitting channel 201 are opposite along the first direction X. The shell assembly 100 further comprises a window sheet 50, and a side of a circumferential edge of the window 401 away from the optical channel structure 20 defines a second groove 402 along the first direction X, and the window sheet 50 is accommodated in the second groove 402. By arranging the window sheet 50 at the window 401, it is possible to prevent impurities such as dust from the outside from entering the inside of the shell assembly 100 through the window 401, so as to avoid that the impurities affect the normal work of the optical distance measuring device 200. Meanwhile, by defining the second groove 402 at the circumferential edge of the window 401 and accommodating the window sheet 50 in the second groove 402, it is possible to avoid that the window sheet 50 protrudes too much from the side portion 41 of the upper cover 40 along the first direction X, and even the window sheet 50 can be completely accommodated in the second groove 402, so as to make the structure between the window sheet 50 and the side portion 41 of the upper cover 40 more compact, and facilitate the positioning and installation of the window sheet 50. In addition, the second groove 402 can limit the movement of the window sheet 50 relative to the upper cover 40 along the up-down direction Z and the second direction Y, which is beneficial to the fastening connection between the window sheet 50 and the upper cover 40.

[0068] As shown in FIG. 1, the optical distance measuring device 200 comprises a shell assembly 100 and an optical channel structure 20. Figure 8 As shown, in some embodiments, the upper light barrier portion 31 is connected with the upper edge of the window 401, and the side wall surface of the upper light barrier portion 31 away from the emitting channel 201 is flush with the side wall surface of the second groove 402 away from the emitting channel 201, and the side wall surface of the upper light barrier portion 31 away from the emitting channel 201 and the side wall surface of the second groove 402 away from the emitting channel 201 jointly abut against the window sheet 50. In this way, it is further facilitated to position and install the window sheet 50, and the area abutting against the window sheet 50 can be increased, which is beneficial to the stable installation of the window sheet 50 in the second groove 402.

[0069] As shown in FIG. 1, the optical distance measuring device 200 comprises a shell assembly 100 and an optical channel structure 20. Figure 9 As shown, in some embodiments, a gap L is arranged between the lower light barrier portion 32 and the window sheet 50, so as to avoid the interference of the lower light barrier portion 32 to the installation of the window sheet 50.

[0070] As shown in FIG. 1, the optical distance measuring device 200 comprises a shell assembly 100 and an optical channel structure 20. Figure 6 and Figure 9 As shown, in some embodiments, a side of the lower edge of the window 401 facing the optical channel structure 20 downwardly defines a third groove 403, and the lower end of the first horizontal end portion 211 and part of the lower light barrier portion 32 are accommodated in the third groove 403. In this way, the lower end of the first horizontal end portion 211 and the lower light barrier portion 32 can be made closer to the window sheet 50, so as to make the structure more compact, and it is also possible to avoid the interference of the lower end of the first horizontal end portion 211 and the lower light barrier portion 32 to the lower edge of the window 401.

[0071] As shown in FIG. 1, the optical distance measuring device 200 comprises a shell assembly 100 and an optical channel structure 20. Figure 10As shown, in some embodiments, the optical channel structure 20 further comprises a second channel plate 22 extending along the first direction X, the second channel plate 22 and the two first channel plates 21 are spaced apart along the second direction Y, and the second channel plate 22 is located on the side of the two first channel plates 21 away from the emitting channel 201, the second channel plate 22 and an adjacent one of the first channel plates 21 together define a receiving channel 203, and the window 401 is opposite to the emitting channel 201 and the receiving channel 203 along the first direction X, respectively.

[0072] The detection light beam emitted by the light transceiver 220 is adapted to be emitted to an external object through the emitting channel 201, the aperture 301 and the window 401 in sequence, and the detection light beam reflected by the external object is adapted to be received by the light transceiver 220 through the window 401 and the receiving channel 203 in sequence.

[0073] As shown, in some embodiments, the two first channel plates 21 and the middle shell 10 are integrally formed. Figure 10

[0074] The first horizontal end portions 211 of the two first channel plates 21 define a first demolding opening 204 therebetween, and the distance between the two first channel plates 21 gradually decreases in a direction away from the first demolding opening 204 (i.e. the direction in which the first horizontal end portion 211 points to the second horizontal end portion 212, wherein the second horizontal end portion 212 is the end of the first channel plate 21 opposite to the first horizontal end portion 211), so that the mold can be demolded without being blocked by the middle shell 10 at the first demolding opening 204, and the mold can be pulled out from between the two first channel plates 21 in a direction opposite to the direction away from the first demolding opening 204 (i.e. the direction in which the second horizontal end portion 212 points to the first horizontal end portion 211, wherein the second horizontal end portion 212 is the end of the first channel plate 21 opposite to the first horizontal end portion 211).

[0075] Alternatively, the first channel plate 21 has a second horizontal end portion 212 opposite to the first horizontal end portion 211 along the first direction X, the second horizontal end portions 212 of the two first channel plates 21 define a first demolding opening 204 therebetween, and the distance between the two first channel plates 21 gradually decreases in a direction away from the first demolding opening 204 (i.e. the direction in which the second horizontal end portion 212 points to the first horizontal end portion 211), so that the mold can be demolded without being blocked by the middle shell 10 at the first demolding opening 204, and the mold can be pulled out from between the two first channel plates 21 in a direction opposite to the direction away from the first demolding opening 204 (i.e. the direction in which the first horizontal end portion 211 points to the second horizontal end portion 212).

[0076] ​Alternatively, a first demolding opening 204 is defined between the upper ends of the two first passage plates 21, and the distance between the two first passage plates 21 gradually decreases in a direction away from the first demolding opening 204, that is, a vertically downward direction, so that the mold can be demolded at the first demolding opening 204 without being blocked by the middle shell 10, and the mold can be pulled out from between the two first passage plates 21 in a direction opposite to the direction away from the first demolding opening 204, that is, a vertically upward direction.

[0077] It should be noted that when at least one of the upper diaphragm part 31 and the lower diaphragm part 32 in the diaphragm structure 30 is integrally formed with the two first passage plates 21 and the middle shell 10, since the diaphragm structure 30 will affect the demolding feasibility at the first horizontal end part 211, the first demolding opening 204 is arranged between the upper ends of the two first passage plates 21 or between the second horizontal end parts 212 of the two first passage plates 21; when the diaphragm structure 30 is installed at the first horizontal end part 211 after the two first passage plates 21 and the middle shell 10 are integrally formed, the first demolding opening 204 can also be arranged between the first horizontal end parts 211 of the two first passage plates 21.

[0078] In the embodiments of the utility model, the two first passage plates 21 and the middle shell 10 are integrally formed, which facilitates the manufacturing and production, and by designing the distance between the two first passage plates 21 to gradually decrease in a direction away from the first demolding opening 204, the demolding feasibility of the two first passage plates 21 and the middle shell 10 after being formed is realized.

[0079] As shown in FIG. 1, Figure 10 In some embodiments, the optical channel structure 20 includes a second passage plate 22, the second passage plate 22 extends along the first direction X, the second passage plate 22 and the two first passage plates 21 are arranged at intervals along the second direction Y, and the second passage plate 22 is located on the side of the first passage plate 21 away from the emission channel 201, the second passage plate 22 and an adjacent first passage plate 21 jointly define a receiving channel 203, and the second passage plate 22 has a third horizontal end part 221 along the first direction X.

[0080] The first passage plate 21, the second passage plate 22 and the middle shell 10 are integrally formed.

[0081] The third horizontal end 221 of the second channel plate 22 and the first horizontal end 211 of the adjacent first channel plate 21 define a second draw opening 205, and the distance between the second channel plate 22 and the adjacent first channel plate 21 gradually decreases in a direction away from the second draw opening 205, that is, the direction in which the second horizontal end 212 points to the first horizontal end 211, so that the mold can be demolded at the second draw opening 205 without being blocked by the middle shell 10, and the mold can be demolded from between the second channel plate 22 and the adjacent first channel plate 21 in the direction opposite to the direction away from the second draw opening 205, that is, the direction in which the first horizontal end 211 points to the second horizontal end 212.

[0082] Alternatively, the first channel plate 21 has a second horizontal end 212 opposite to the first horizontal end 211 in the first direction X, the second channel plate 22 has a fourth horizontal end 222 opposite to the third horizontal end 221 in the first direction X, and the fourth horizontal end 222 of the second channel plate 22 and the second horizontal end 212 of the adjacent first channel plate 21 define a second draw opening 205, and the distance between the second channel plate 22 and the adjacent first channel plate 21 gradually decreases in a direction away from the second draw opening 205, that is, the direction in which the first horizontal end 211 points to the second horizontal end 212, so that the mold can be demolded at the second draw opening 205 without being blocked by the middle shell 10, and the mold can be demolded from between the second channel plate 22 and the adjacent first channel plate 21 in the direction opposite to the direction away from the second draw opening 205, that is, the direction in which the second horizontal end 212 points to the first horizontal end 211.

[0083] Alternatively, the upper end of the second channel plate 22 and the upper end of the adjacent first channel plate 21 define a second draw opening 205, and the distance between the second channel plate 22 and the adjacent first channel plate 21 gradually decreases in a direction away from the second draw opening 205, that is, the vertically downward direction, so that the mold can be demolded at the first draw opening 204 without being blocked by the middle shell 10, and the mold can be demolded from between the two first channel plates 21 in the direction opposite to the direction away from the second draw opening 205, that is, the vertically upward direction.

[0084] In the embodiment of the utility model, the first channel plate 21, the second channel plate 22 and the middle shell 10 are integrally formed, which facilitates the manufacturing and production, and the distance between the second channel plate 22 and the adjacent first channel plate 21 is designed to gradually decrease in the direction away from the second draw opening 205, which realizes the demolding feasibility of the first channel plate 21, the second channel plate 22 and the middle shell 10 after forming.

[0085] In some embodiments, the number of the second channel plates 22 is two, the two second channel plates 22 and the two first channel plates 21 are arranged in the second direction Y, and the two second channel plates 22 are respectively located on the side of the two first channel plates 21 away from the emitting channel 201, one second channel plate 22 and the adjacent one first channel plate 21 jointly define one receiving channel 203, and the other second channel plate 22 and the adjacent other first channel plate 21 jointly define the other receiving channel 203.

[0086] The first channel plate 21, the second channel plate 22 and the middle shell 10 are integrally formed.

[0087] As shown in Figure 3 and Figure 4 In some embodiments, the light transceiver 220 includes a mirror, the optical distance measuring device 200 further includes a light emitter and a light receiver, and the light emitter and the light receiver transmit the detection light beam through the mirror, the mirror is located on the side of the emitting channel 201 and the receiving channel 203 away from the diaphragm opening 301, and the light emitter and the light receiver are located on the lower side of the mirror. The detection light beam emitted upward by the light emitter is adapted to be reflected by the mirror and sequentially pass through the light emitting channel 201 and the diaphragm opening 301 and then be emitted to the external object, and the detection light beam reflected by the external object is adapted to pass through the receiving channel 203 and then be reflected downward to the light receiver through the mirror.

[0088] In other embodiments, the light transceiver 220 includes a light emitter and a light receiver, the light emitter is located on the side of the emitting channel 201 away from the diaphragm opening 301, and the light receiver is located on the side of the emitting channel 201 away from the diaphragm opening 301, the detection light beam emitted by the light emitter is adapted to pass through the light emitting channel 201 and the diaphragm opening 301 and then be emitted to the external object, and the detection light beam reflected by the external object is adapted to pass through the receiving channel 203 and then be emitted to the light receiver.

[0089] Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A housing assembly, characterized by, The application relates to a shell assembly of a light detection and ranging (LiDAR) device. The shell assembly comprises: a middle shell; an optical channel structure arranged on an upper side of the middle shell, the optical channel structure comprising two first channel plates, the two first channel plates respectively extending along a first direction, and the two first channel plates being spaced apart along a second direction, the two first channel plates together defining an emission channel, the first direction, the second direction and an up-down direction being perpendicular to each other, or the first direction and the second direction being perpendicular to each other and the first direction and the second direction being arranged at an angle with the up-down direction respectively, the first channel plate having a first horizontal end portion along the first direction; a diaphragm structure opposite to the emission channel along the first direction, the diaphragm structure defining a diaphragm opening, the diaphragm opening being in communication with the emission channel, and a detection light beam in the emission channel being capable of being emitted to an external environment through the diaphragm opening from the first horizontal end portion; 2. The housing assembly of claim 1, wherein, wherein a size of the diaphragm opening along the up-down direction is smaller than a size of the emission channel at the first horizontal end portion along the up-down direction, and / or a size of the diaphragm opening along the second direction is smaller than a size of the emission channel at the first horizontal end portion along the second direction. The diaphragm structure and the first horizontal end portion are integrally formed, or the diaphragm structure and the first horizontal end portion are separately formed and fixedly connected; or the diaphragm structure and the middle shell are integrally formed, or the diaphragm structure and the middle shell are separately formed and fixedly connected; 3. The housing assembly of claim 1, wherein, or the shell assembly further comprises an upper cover, the upper cover being mounted on the middle shell, the diaphragm structure and the upper cover being integrally formed, or the diaphragm structure and the upper cover being separately formed and fixedly connected. The shell assembly further comprises an upper cover, the upper cover being mounted on the middle shell; the diaphragm structure comprises an upper diaphragm portion and a lower diaphragm portion; the upper diaphragm portion and the upper cover are integrally formed, or the upper diaphragm portion and the upper cover are separately formed and fixedly connected; the lower diaphragm portion and the first horizontal end portion are integrally formed, or the lower diaphragm portion and the first horizontal end portion are separately formed and fixedly connected; and / or the lower diaphragm portion and the middle shell are integrally formed, or the lower diaphragm portion and the middle shell are separately formed and fixedly connected; 4. The housing assembly of claim 3, wherein, the upper diaphragm portion and the lower diaphragm portion are both opposite to the emission channel along the first direction, and the upper diaphragm portion, the lower diaphragm portion and the first horizontal end portion together define the diaphragm opening. an upper end of the first horizontal end portion downwardly defines a first groove, and the upper diaphragm portion is accommodated in the first groove; 5. The housing assembly of claim 3, wherein, and / or a side portion of the upper cover is formed with a window, the window being opposite to the emission channel along the first direction, and an upper edge of the upper diaphragm portion is connected to an upper edge of the window. a side portion of the upper cover is formed with a window, the window being opposite to the emission channel along the first direction; the shell assembly further comprises a window sheet, a side of a circumferential edge of the window away from the optical channel structure along the first direction defines a second groove, and the window sheet is accommodated in the second groove.

6. The housing assembly of claim 5, wherein, The upper light barrier portion is connected to an upper edge of the window, and a side wall surface of the upper light barrier portion facing away from the emission channel and a side wall surface of the second groove facing away from the emission channel are flush, and the side wall surface of the upper light barrier portion facing away from the emission channel and the side wall surface of the second groove facing away from the emission channel jointly abut against the window sheet; And / or, a gap is arranged between the lower light barrier portion and the window sheet; And / or, a side of a lower edge of the window facing the optical channel structure downwardly defines a third groove, and a lower end of the first horizontal end portion and part of the lower light barrier portion are accommodated in the third groove.

7. The housing assembly of claim 4 or 5, wherein, The optical channel structure further comprises a second channel plate extending along the first direction, the second channel plate and the two first channel plates are spaced apart along the second direction, and the second channel plate is arranged on a side of the two first channel plates facing away from the emission channel, the second channel plate and an adjacent one of the first channel plates jointly define a receiving channel, and the window is opposite to the emission channel and the receiving channel along the first direction, respectively.

8. The housing assembly of claim 7, wherein, The two first channel plates and the middle shell are integrally formed; the first horizontal end portions of the two first channel plates define a first parting opening therebetween, and the distance between the two first channel plates gradually decreases in a direction away from the first parting opening; or the first channel plates have second horizontal end portions opposite to the first horizontal end portions along the first direction, the second horizontal end portions of the two first channel plates define a first parting opening therebetween, and the distance between the two first channel plates gradually decreases in a direction away from the first parting opening; or the two first channel plates have first vertical end portions opposite to the middle shell along the up-down direction, the first vertical end portions of the two first channel plates define a first parting opening therebetween, and the distance between the two first channel plates gradually decreases in a direction away from the first parting opening; And / or, the optical channel structure comprises the second channel plate, the second channel plate extends along the first direction, the second channel plate and the two first channel plates are spaced apart along the second direction, and the second channel plate is located on the side of the first channel plate away from the emission channel, the second channel plate and an adjacent one of the first channel plates jointly define a receiving channel, and the second channel plate has a third horizontal end portion along the first direction; wherein the first channel plate, the second channel plate and the middle shell are integrally formed, a second draw mouth is defined between the third horizontal end portion of the second channel plate and the first horizontal end portion of the adjacent one of the first channel plates, and the distance between the second channel plate and the adjacent one of the first channel plates gradually decreases in a direction away from the second draw mouth; or, the first channel plate has a second horizontal end portion along the first direction opposite to the first horizontal end portion, the second channel plate has a fourth horizontal end portion along the first direction opposite to the third horizontal end portion, a second draw mouth is defined between the fourth horizontal end portion of the second channel plate and the second horizontal end portion of the adjacent one of the first channel plates, and the distance between the second channel plate and the adjacent one of the first channel plates gradually decreases in a direction away from the second draw mouth; or, a second draw mouth is defined between the upper end of the second channel plate and the upper end of the adjacent one of the first channel plates, and the distance between the second channel plate and the adjacent one of the first channel plates gradually decreases in a direction away from the second draw mouth.

9. An optical distance measuring device, characterized in that The base and the shell assembly of any one of claims 1 to 8 are installed on the base.

10. A mobile robot, characterized by The mobile robot body and the optical ranging device of claim 9 are provided on the mobile robot body. The base and the shell assembly of any one of claims 1 to 8 are installed on the base. The mobile robot body and the optical ranging device of claim 9 are provided on the mobile robot body.

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