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 is arranged on a base of the optical distance measuring device. The shell assembly comprises a middle shell and a side light blocking structure, the middle shell comprises a base part and an optical channel structure, and the optical channel structure is arranged on the upper side of the base part; the first channel end portion of the optical channel structure is provided with an optical transmit-receive port, and the second channel end portion of the optical channel structure and the side light blocking structure are oppositely arranged in the first direction. Wherein the first channel end part and the second channel end part are two opposite ends of the optical channel structure in a first direction, and the first direction is an extension direction of the optical channel structure and is perpendicular to the up-down direction or forms an included angle with the up-down direction. The housing assembly can prevent external ambient light from directly entering the end part of the second channel of the optical channel structure without passing through the optical channel structure, thereby reducing the influence of the ambient light on the detection result of the optical distance measuring device.

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 optical channel structure is used for emitting and receiving detection beams, and the optical channel structure has a first channel end and a second channel end in its extension direction. Specifically, the detection beams emitted by the optical transceiver of the optical ranging device are adapted to be emitted from the side where the second channel end is located to the side where the first channel end is located and then to the external object. The detection beams reflected by the external object are adapted to be emitted from the side where the first channel end is located to the side where the second channel end is located and then received by the optical transceiver. In the related art, the optical transceiver is located on the side where the second channel end is located, and the side where the second channel end is located is an open structure. The ambient light from the outside may be directly incident on the side where the second channel end is located without passing through the optical channel structure and then received by the optical transceiver, thereby adversely affecting the detection results of the optical ranging device. SUMMARY

[0003] The utility model discloses at least solve 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 can limit the ambient light of outside in the case not passing through the optical channel structure directly incident to the second channel end of optical channel structure, reduced the influence of ambient light to the detection result of optical ranging device.

[0004] According to the casing assembly of the first aspect of the utility model, the casing assembly is arranged on the base of the optical ranging device, and the casing assembly comprises a middle shell and a side light blocking structure. The middle shell comprises a base and an optical channel structure. The optical channel structure is arranged on the upper side of the base.

[0005] The first channel end of the optical channel structure is provided with an optical transceiver opening, and the second channel end of the optical channel structure is arranged opposite to the side light blocking structure along the first direction. The first channel end and the second channel end are opposite ends of the optical channel structure in the first direction, and the first direction is the extension direction of the optical channel structure. The first direction is perpendicular to the up-down direction or is arranged at an angle with the up-down direction.

[0006] The casing assembly according to the utility model embodiment has at least the following beneficial effects:

[0007] In the embodiment of the utility model, through setting up side light blocking structure, and make side light blocking structure with optical channel structure second channel end part opposite setting along first direction, namely, in the side of second channel end part away from first channel end part set up side light blocking structure, thus, side light blocking structure can form the environment light of outside in the side of second channel end part away from first channel end part to the environment light, reduce the possibility of receiving in the case of not passing through optical channel structure, thereby reduce the influence of environment light to the detection result of optical ranging device.

[0008] The shell assembly provided in the embodiment of the utility model, the second channel end part and the side light blocking structure define a receiving cavity therebetween, the receiving cavity is in communication with the optical transceiving opening, and the receiving cavity is used for accommodating the optical transceiver of the optical ranging device; wherein,

[0009] The detection light beam emitted by the optical transceiver of the optical ranging device is adapted to be emitted from the side where the second channel end part is located to the side where the first channel end part is located and then to the external object through the optical transceiving opening, and the detection light beam reflected by the external object is adapted to be received by the optical transceiver after passing through the optical transceiving opening and being emitted from the side where the first channel end part is located to the side where the second channel end part is located.

[0010] The shell assembly provided in the embodiment of the utility model, the middle shell defines a light transmission hole, the light transmission hole is located on the lower side of the receiving cavity, and the light transmission hole is in communication with the receiving cavity; the optical transceiver comprises a mirror, and the mirror is used for transmitting and receiving the detection light beam between the optical transceiving opening and the light transmission hole.

[0011] The shell assembly provided in the embodiment of the utility model further comprises an upper cover.

[0012] The shell assembly further comprises an upper light blocking structure, the upper light blocking structure is connected to the middle shell or the upper cover, and the upper light blocking structure is located above the middle shell and at least partially covers the upper side of the optical channel structure and / or the receiving cavity.

[0013] The shell assembly provided in the embodiment of the utility model, the first channel side part and the second channel side part of the optical channel structure are spaced apart along the second direction and jointly define an optical channel, and the optical channel forms the optical transceiving opening; wherein, the first channel side part and the second channel side part are opposite parts of the optical channel structure in the second direction, the first direction and the second direction are perpendicular to each other, and the second direction is perpendicular to the up-down direction, or the second direction is arranged at an angle with the up-down direction.

[0014] The first light-blocking end of the side light-blocking structure extends to the inner side of the first channel side part facing the optical channel, and the first light-blocking end is connected with or spaced apart from the inner side wall of the first channel side part;Or, the first light-blocking end of the side light-blocking structure extends to the outer side of the first channel side part away from the optical channel, and the first light-blocking end is connected with or spaced apart from the outer side wall of the first channel side part;Or, the first light-blocking end of the side light-blocking structure extends to the horizontal end face of the first channel side part in the first direction, and the first light-blocking end is connected with or spaced apart from the horizontal end face of the first channel side part in the first direction;

[0015] The second light-blocking end of the side light-blocking structure extends to the inner side of the second channel side part facing the optical channel, and the second light-blocking end is connected with or spaced apart from the inner side wall of the second channel side part;Or, the second light-blocking end of the side light-blocking structure extends to the outer side of the second channel side part away from the optical channel, and the second light-blocking end is connected with or spaced apart from the outer side wall of the second channel side part;Or, the second light-blocking end of the side light-blocking structure extends to the horizontal end face of the second channel side part in the first direction, and the second light-blocking end is connected with the horizontal end face of the second channel side part in the first direction;Wherein, the first light-blocking end and the second light-blocking end are opposite sides of the side light-blocking structure in the second direction.

[0016] According to the shell assembly of the embodiment of the utility model, the first channel side part and the second channel side part of the optical channel structure are spaced apart in the second direction and jointly define the optical channel, and the optical channel forms an optical transceiving opening;Wherein, the first channel side part and the second channel side part are opposite sides of the optical channel structure in the second direction, and the first direction and the second direction are perpendicular to each other;The second direction is perpendicular to the up-down direction, or the second direction is arranged at an angle with the up-down direction;

[0017] The first channel side part, the second channel side part and the base part are integrally formed, and the end of the first channel side part and the end of the second channel side part define a stripping opening, and the stripping opening is arranged at the first channel end of the optical channel structure or the second channel end or the upper end away from the base part;In the direction away from the stripping opening, the distance between the first channel side part and the second channel side part gradually decreases.

[0018] According to the shell assembly of the embodiment of the utility model, the shell assembly further comprises a cover, and the cover comprises a top plate and a side plate;The top plate is arranged above the middle shell;The upper end of the side plate is connected with the top plate, the side plate surrounds the optical channel structure and the side light-blocking structure, the lower end of the side plate is connected with the base, and at least part of the material of the side plate is a light-transmitting material.

[0019] According to the shell assembly of the embodiment of the utility model, the top plate and the side plate are integrally formed or separately arranged and fixedly connected;

[0020] And / or,

[0021] The top plate is provided with a light blocking layer or a low light transmission layer, the light transmission rate of the low light transmission layer is greater than 0 and less than the light transmission rate of the light transmission material; or the material of the top plate is a non-light transmission material; or the shell assembly further comprises an upper light blocking structure, the upper light blocking structure is at least partially covered above the optical channel structure, and the upper light blocking structure is connected to the middle shell or the upper cover.

[0022] According to the shell assembly provided in the embodiment of the present application, the shell assembly further comprises an upper cover, and the upper cover comprises a side plate; the side plate surrounds the optical channel structure and the side light blocking structure, and at least part of the material of the side plate is a light transmission material.

[0023] The optical channel structure has an extension part extending from the base to the side plate in the first direction, and the projection of the extension part of the optical channel structure in the up-down direction is located between the projection of the side plate in the up-down direction and the projection of the base in the up-down direction.

[0024] According to the shell assembly provided in the embodiment of the present application, the middle shell further comprises a lower light blocking part, the lower light blocking part extends from the base to the side plate in the first direction, and the lower light blocking part is opposite to the extension part of the optical channel structure in the up-down direction.

[0025] According to the shell assembly provided in the embodiment of the present application, the shell assembly further comprises a balance structure, and the balance structure is arranged on the side of the side light blocking structure away from the optical channel structure.

[0026] According to the shell assembly provided in the embodiment of the present application, the shell assembly further comprises an upper cover, and the upper cover comprises a side plate; the side plate surrounds the outside of the optical channel structure, the outside of the side light blocking structure and the outside of the balance structure, and at least part of the material of the side plate is a light transmission material.

[0027] The balance structure extends from the side light blocking structure to the side plate in the first direction.

[0028] According to the optical distance measuring device provided in the second aspect of the present application, the optical distance measuring device comprises the shell assembly and a base according to any one of the above embodiments, and the middle shell is fixedly arranged relative to the base or rotatably arranged around the rotation axis, and the extension direction of the rotation axis is parallel to the up-down direction.

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

[0030] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

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

[0032] Figure 1 This is a schematic diagram of the structure of the mobile robot according to an embodiment of the present utility model;

[0033] Figure 2 This is a three-dimensional structural view of the optical ranging device according to an embodiment of the present invention;

[0034] Figure 3 for Figure 2 An exploded view of the optical ranging device shown.

[0035] Figure 4 for Figure 3 A three-dimensional structural diagram of the middle shell and side light-blocking structure shown;

[0036] Figure 5 for Figure 3 The top view of the middle shell and side light-blocking structure shown;

[0037] Figure 6 for Figure 2 A cross-sectional view of the optical ranging device shown.

[0038] Figure 7 for Figure 6 The enlarged view of part A shown;

[0039] Figure 8 This is a three-dimensional view of the middle shell and side light-blocking structure of another embodiment of the present invention.

[0040] Figure label:

[0041] Mobile robot 300; Robot body 310;

[0042] Optical rangefinder 200; base 210; optical transceiver 220; reflector 221;

[0043] Housing assembly 100;

[0044] Middle shell 10; optical channel structure 11; first channel side 111; second channel side 112; middle channel side 113; first channel end 1101; extension portion 1101a; second channel end 1102; optical transceiver port 101; receiving cavity 102; light-transmitting hole 103; optical channel 104; emission channel 1041; emission channel 1042; draft port 105; base 12; light-blocking portion 13;

[0045] Side light-blocking structure 20; first light-blocking end 21; second light-blocking end 22;

[0046] Top cover 30; Top plate 31; Side plate 32;

[0047] First direction X; second direction Y; up / down direction Z. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are merely for the purpose of illustrating the present application, and should not be construed as limiting the present application.

[0049] 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 the upper, lower, front, rear, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as limiting the present application, and therefore cannot be understood as limiting the present application.

[0050] 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 indicated technical features or the sequence of indicated technical features.

[0051] 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.

[0052] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary 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 exemplary 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.

[0053] Please refer to Figures 1 to 8 , the following detailed description of the housing assembly 100, the optical distance measuring device 200 and the mobile robot 300 according to the embodiment of the present application.

[0054] As Figure 1As shown, the mobile robot 300 comprises a robot body 310 and an optical distance measuring device 200, which 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 robot with functions of sweeping, mopping and the like, can be a service robot with functions of meal delivery, object delivery and the like, can be a mowing robot with a mowing function, can be a carrying robot for carrying goods in a warehouse or a factory, and the like.

[0055] As shown in Figure 2 and Figure 3 The optical distance measuring device 200 comprises a base 210, a housing assembly 100 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 the light transceiver 220 is used to emit and receive detection light beams.

[0056] As shown in Figure 4 The housing assembly 100 comprises a middle shell 10 and a side light blocking structure 20. The middle shell 10 comprises an optical channel structure 11 and a base 12, and the optical channel structure 11 is arranged on the upper side of the base 12. The first channel end 1101 of the optical channel structure 11 is provided with an optical transceiving opening 101, and the second channel end 1102 of the optical channel structure 11 is arranged opposite to the side light blocking structure 20 along a first direction X.

[0057] Wherein, the first channel end 1101 and the second channel end 1102 are opposite ends of the optical channel structure 11 in the first direction X, and the first direction X is the extension direction of the optical channel structure 11, and the first direction X is perpendicular to the up-down direction Z or is arranged at an angle with the up-down direction Z.

[0058] Wherein, the light transceiver 220 is arranged on the side where the second channel end 1102 is located, and the detection light beams emitted by the light transceiver 220 are adapted to be emitted from the side where the second channel end 1102 is located to the side where the first channel end 1101 is located and pass through the optical transceiving opening 101 to the external object. The detection light beams reflected by the external object are adapted to pass through the optical transceiving opening 101 and be received by the light transceiver 220 after being emitted from the side where the first channel end 1101 is located to the side where the second channel end 1102 is located.

[0059] In the embodiment of the utility model, through setting side light blocking structure 20, and making side light blocking structure 20 and the second channel end 1102 of optical channel structure 11 are relatively arranged along the first direction X, namely, setting side light blocking structure 20 on the side of second channel end 1102 away from first channel end 1101, in this way, side light blocking structure 20 can form a blocking effect on ambient light on the side of second channel end 1102 away from first channel end 1101, to limit ambient light from directly incident on second channel end 1102 without passing through optical channel structure 11, reduce the possibility of ambient light received by light transceiver 220, thereby reducing the influence of ambient light on the detection result of optical ranging device 200.

[0060] In some embodiments, the middle shell 10 and the side light blocking structure 20 are integrally formed, or the middle shell 10 and the side light blocking structure 20 are separate and fixedly connected.

[0061] In some embodiments, the middle shell 10 is fixedly arranged relative to the base 210 or rotatably arranged about a rotation axis, and the extension direction of the rotation axis is parallel to the up-down direction Z.

[0062] As shown in Figure 3 and Figure 4 In some embodiments, a receiving cavity 102 is defined between the second channel end 1102 and the side light blocking structure 20, the receiving cavity 102 and the optical transceiver opening 101 are in communication, and the receiving cavity 102 is used to accommodate the light transceiver 220, in this way, the receiving cavity 102 can form a certain space for accommodating and installing the light transceiver 220, the light beam emitted by the light transceiver 220 is adapted to pass through the inside of the optical channel structure 11 and be emitted to the external object through the optical transceiver opening 101, the light beam reflected by the external object is adapted to pass through the optical transceiver opening 101 and be received by the light transceiver 220 after passing through the inside of the optical channel structure 11, and the side light blocking structure 20 can limit ambient light from entering the receiving cavity 102 through the position of the side light blocking structure 20 and being received by the light transceiver 220, so that the light transceiver 220 can obtain a certain light protection effect in the receiving cavity 102.

[0063] In some embodiments, the light transceiver 220 comprises a mirror 221, the optical distance measuring device 200 further comprises a light emitter and a light receiver, and the light emitter and the light receiver are configured to transmit the detection light beam through the mirror 221, and the light emitter and the light receiver are located at the lower side of the mirror 221. Specifically, the detection light path of the optical distance measuring device 200 is as follows: the detection light beam emitted upward by the light emitter is reflected by the mirror 221, then passes through the inside of the optical channel structure 11 and the optical transceiver port 101, and is then emitted to the external object. The detection light beam reflected by the external object passes through the optical transceiver port 101 and the inside of the optical channel structure 11, and then is reflected downward by the mirror 221 to the light receiver. In order to achieve the above detection light path design, as shown in FIGS. 10 and 11, in some embodiments, the middle shell 10 defines a light passing hole 103 located at the lower side of the accommodation cavity 102, and the light passing hole 103 is in communication with the accommodation cavity 102; the mirror 221 is configured to transmit the detection light beam between the optical transceiver port 101 and the light passing hole 103, wherein the light emitter and the light receiver are located at the lower side of the light passing hole 103, and the light passing hole 103 is configured to allow the detection light beam emitted upward by the light emitter to pass through the light passing hole 103 to be emitted to the mirror 221 and then be emitted by the mirror to the inside of the optical channel structure 11, and to allow the reflected detection light beam to pass through the light passing hole 103 after being reflected by the mirror 221 to be emitted to the light receiver. Figure 3 and Figure 4 In some embodiments, the middle shell 10 defines a light passing hole 103 located at the lower side of the accommodation cavity 102, and the light passing hole 103 is in communication with the accommodation cavity 102; the mirror 221 is configured to transmit the detection light beam between the optical transceiver port 101 and the light passing hole 103, wherein the light emitter and the light receiver are located at the lower side of the light passing hole 103, and the light passing hole 103 is configured to allow the detection light beam emitted upward by the light emitter to pass through the light passing hole 103 to be emitted to the mirror 221 and then be emitted by the mirror to the inside of the optical channel structure 11, and to allow the reflected detection light beam to pass through the light passing hole 103 after being reflected by the mirror 221 to be emitted to the light receiver.

[0064] Generally, the light passing hole 103 is located at the lower side of the position where the second channel end 1102 is located, so as to communicate the space above and below the second channel end 1102, thereby allowing the detection light beam to propagate between the space above and below the second channel end 1102. Therefore, the ambient light from the outside environment can directly pass through the side of the second channel end 1102 away from the first channel end 1101, and then pass through the light passing hole 103 to be emitted to the light receiver without passing through the optical channel structure 11, thereby causing errors in the detection results of the optical distance measuring device 200. In the present embodiment, by arranging the light passing hole 103 at the lower side of the accommodation cavity 102 defined by the second channel end 1102 and the side light blocking structure 20, the side light blocking structure 20 can limit the ambient light from the outside environment from entering the accommodation cavity 102 and being received by the light receiver through the light passing hole 103 at the side of the second channel end 1102 away from the first channel end 1101, thereby reducing the possibility of the light receiver receiving ambient light.

[0065] In other embodiments, the optical transceiver 220 includes an optical transmitter and an optical receiver housed in a receiving cavity 102. The detection beam emitted by the optical transmitter is adapted to pass through the interior of the optical channel structure 11 and through the optical transceiver port 101 before being directed toward an external object. The detection beam reflected back by the external object is adapted to pass through the optical transceiver port 101 and through the interior of the optical channel structure 11 before being directed toward the optical receiver. That is, in this embodiment, the reflector 221 in the optical transceiver 220 can also be omitted. The optical transmitter emits the detection beam in the receiving cavity 102, and the optical receiver receives the detection beam in the receiving cavity 102. The side light blocking structure 20 can restrict ambient light from entering the receiving cavity 102 and being received by the optical receiver on the side of the second channel end 1102 away from the first channel end 1101, thereby reducing the possibility of the optical receiver receiving ambient light and reducing the possibility of ambient light causing crosstalk to the detection beam emitted by the optical transmitter.

[0066] In some embodiments, the housing assembly 100 further includes an upper cover 30; the housing assembly 100 also includes an upper light-blocking structure connected to the middle housing 10 or the upper cover 30; the upper light-blocking structure is located above the middle housing 10 and at least partially covers the upper side of the optical channel structure 11 and / or the receiving cavity 102. With the above configuration, the upper light-blocking structure can act as a barrier against ambient light above the middle housing 10, limiting ambient light from directly entering the interior of the optical channel structure 11 or the second channel end 1102 through the upper side of the optical channel structure 11 without passing through it, or directly entering the receiving cavity 102 through it. This further reduces the possibility of the optical transceiver 220 receiving ambient light and reduces the possibility of crosstalk caused by ambient light to the detection beam emitted by the optical transceiver 220.

[0067] Optionally, the upper light-blocking structure completely covers the upper side of the optical channel structure 11 and the receiving cavity 102 above the middle shell 10, so as to completely block the ambient light from entering the interior of the optical channel structure 11 or the second channel end 1102 or the receiving cavity 102 through the upper side of the optical channel structure 11 and the receiving cavity 102, thereby achieving a better light protection effect.

[0068] like Figure 4 and Figure 5 As shown, in some embodiments, the first channel side 111 and the second channel side 112 of the optical channel structure 11 are spaced apart along the second direction Y and together define the optical channel 104, which has the aforementioned optical transceiver port 101. A detection beam emitted by the light emitter is adapted to pass through the optical channel 104 and the optical transceiver port 101 before being directed toward an external object. A detection beam reflected back by the external object is adapted to pass through the optical transceiver port 101 and the optical channel 104 before being directed toward the light receiver.

[0069] The first channel side part 111 and the second channel side part 112 are opposite sides of the optical channel structure 11 in the second direction Y, and the first direction X and the second direction Y are perpendicular to each other; or the second direction Y is perpendicular to the up-down direction Z, or the second direction Y is arranged at an angle with the up-down direction Z.

[0070] The first light-blocking end part 21 of the side light-blocking structure 20 extends to the inner side of the first channel side part 111 facing the optical channel 104, and the first light-blocking end part 21 is connected to or spaced apart from the inner side wall of the first channel side part 111; or the first light-blocking end part 21 of the side light-blocking structure 20 extends to the outer side of the first channel side part 111 away from the optical channel 104, and the first light-blocking end part 21 is connected to or spaced apart from the outer side wall of the first channel side part 111; or the first light-blocking end part 21 of the side light-blocking structure 20 extends to the horizontal end face of the first channel side part 111 along the first direction X, and the first light-blocking end part 21 is connected to or spaced apart from the horizontal end face of the first channel side part 111 along the first direction X.

[0071] The second light-blocking end part 22 of the side light-blocking structure 20 extends to the inner side of the second channel side part 112 facing the optical channel 104, and the second light-blocking end part 22 is connected to or spaced apart from the inner side wall of the second channel side part 112; or the second light-blocking end part 22 of the side light-blocking structure 20 extends to the outer side of the second channel side part 112 away from the optical channel 104, and the second light-blocking end part 22 is connected to or spaced apart from the outer side wall of the second channel side part 112; or the second light-blocking end part 22 of the side light-blocking structure 20 extends to the horizontal end face of the second channel side part 112 along the first direction X, and the second light-blocking end part 22 is connected to or spaced apart from the horizontal end face of the second channel side part 112 along the first direction X.

[0072] The first light-blocking end part 21 and the second light-blocking end part 22 are opposite sides of the side light-blocking structure 20 in the second direction Y.

[0073] Through the above arrangement, the side light-blocking structure 20 can form a certain enclosing structure on the side where the second channel end part 1102 is located, thereby greatly blocking the ambient light in the horizontal direction, and improving the blocking range of the side light-blocking structure 20 to the ambient light.

[0074] It is worth mentioning that when the first light blocking end 21 of the side light blocking structure 20 is connected with the inner side wall, the outer side wall or the horizontal end face of the first channel side 111 of the optical channel structure 11, and the second light blocking end 22 of the side light blocking structure 20 is connected with the inner side wall, the outer side wall or the horizontal end face of the second channel side 112 of the optical channel structure 11, the side light blocking structure 20 and the optical channel structure 11 can form a close surrounding structure in the horizontal direction, so that only the optical transceiver port 101 can pass through the light beam to enter the accommodation cavity 102 in the horizontal direction, and the blocking effect of the environmental light to the outside is better, which is beneficial to further reduce the possibility of the light transceiver 220 receiving the environmental light, thereby further reducing the influence of the environmental light on the detection result of the optical distance measuring device 200.

[0075] It is worth mentioning that the optical distance measuring device 200 in the prior art scans and measures the distance by rotating the reflector 221, and the reflector 221 and the L-shaped cylinder forming the emission channel are rotatably arranged on the upper cover 30, and are surrounded by the upper cover 30, so that the angle adjustment of the reflector 221 is difficult, and generally the assembly precision requirement of the reflector 221 related structure needs to be improved in the design stage, so that the angle adjustment of the reflector 221 is not needed after the assembly of the reflector 221 related structure is completed, and an opening is often arranged at the corner of the L-shaped cylinder and the reflector 221 is attached to the opening, which has high requirements for the reliability of the connection mode and the installation precision, and the embodiments of the utility model are arranged with the light passing hole 103 below the position of the second channel end 1102, and the side light blocking structure 20 and the second channel end 1102 jointly define the accommodation cavity 102 for accommodating the reflector 221, so that the reflector 221 can protrude out of the base 210, thereby the angle of the reflector 221 can be adjusted during the assembly process, the assembly precision requirement of the reflector 221 is reduced, and the first channel end 1101 and the second channel end 1102 with simple structure and simple installation process are used to form the optical channel 104 to replace the L-shaped cylinder, thereby the machining and assembly cost is reduced. Further, in some embodiments, the connection mode between the first light blocking end 21 of the side light blocking structure 20 and the first channel side 111 of the optical channel structure 11 can be integrally formed, and the connection mode between the second light blocking end 22 of the side light blocking structure 20 and the second channel side 112 of the optical channel structure 11 can be integrally formed.

[0076] As Figure 5As shown, in some embodiments, the first channel side 111 and the second channel side 112 of the optical channel structure 11 are spaced apart along the second direction Y and jointly define the optical channel 104, and the optical channel 104 is formed with the optical transceiving opening 101. The detection light beam emitted by the light emitter is adapted to pass through the optical channel 104 and be emitted to the external object through the optical transceiving opening 101, and the detection light beam reflected by the external object is adapted to pass through the optical transceiving opening 101 and be emitted to the light receiver through the optical channel 104.

[0077] The first channel side 111 and the second channel side 112 are opposite sides of the optical channel structure 11 in the second direction Y, and the first direction X and the second direction Y are perpendicular to each other; or the second direction Y is perpendicular to the up-down direction Z, or the second direction Y is arranged at an angle with the up-down direction Z.

[0078] The first channel side 111, the second channel side 112 and the base 12 are integrally formed, the end of the first channel side 111 and the end of the second channel side 112 define the demolding opening 105, and the demolding opening 105 is arranged at the first channel end 1101 or the second channel end 1102 of the optical channel structure 11 or away from the upper end of the base 12; along the direction away from the demolding opening 105, the distance between the first channel side 111 and the second channel side 112 gradually decreases.

[0079] By integrally forming the first channel side 111, the second channel side 112 and the base 12, the manufacturing and production thereof can be facilitated, and by designing the distance between the first channel side 111 and the second channel side 112 to gradually decrease along the direction away from the demolding opening 105, the demolding feasibility of the first channel side 111, the second channel side 112 and the base 12 after forming is realized.

[0080] In some embodiments, the first channel side 111, the second channel side 112 and the base 12 are integrally formed, the upper end of the first channel side 111 and the upper end of the second channel side 112 define the demolding opening 105, and along the direction away from the demolding opening 105 (i.e. the downward direction), the distance between the first channel side 111 and the second channel side 112 gradually decreases, so that the mold can be demolded at the demolding opening 105 without being blocked by the base 12, so that the mold can be demolded from between the first channel side 111 and the second channel side 112 along the direction opposite to the direction away from the demolding opening 105 (i.e. the upward direction).

[0081] Alternatively, the end of the first channel side portion 111 distal to the second channel end portion 1102 and the end of the second channel side portion 112 distal to the second channel end portion 1102 define a draft 105, and the distance between the first channel side portion 111 and the second channel side portion 112 gradually decreases in a direction away from the draft 105, i.e. in a direction in which the first channel end portion 1101 points to the second channel end portion 1102. In this way, the mold can be demolded at the draft 105 without being blocked by the base 12, so that the mold can be removed from between the first channel side portion 111 and the second channel side portion 112 in a direction opposite to the direction away from the draft 105, i.e. in a direction in which the second channel end portion 1102 points to the first channel end portion 1101.

[0082] Alternatively, the end of the first channel side portion 111 distal to the second channel end portion 1102 and the end of the second channel side portion 112 distal to the second channel end portion 1102 define a draft 105, and the distance between the first channel side portion 111 and the second channel side portion 112 gradually decreases in a direction away from the draft 105, i.e. in a direction in which the first channel end portion 1101 points to the second channel end portion 1102. In this way, the mold can be demolded at the draft 105 without being blocked by the base 12, so that the mold can be removed from between the first channel side portion 111 and the second channel side portion 112 in a direction opposite to the direction away from the draft 105, i.e. in a direction in which the second channel end portion 1102 points to the first channel end portion 1101.

[0083] It should be noted that when the side light blocking structure 20 is integrally formed with the first channel side portion 111, the second channel side portion 112 and the base 12, the draft 105 is provided between the upper end of the first channel side portion 111 and the upper end of the second channel side portion 112, or between the end of the first channel side portion 111 distal to the second channel end portion 1102 and the end of the second channel side portion 112 distal to the second channel end portion 1102. When the side light blocking structure 20 is installed on the side of the second channel end portion 1102 distal to the first channel portion after the first channel side portion 111, the second channel side portion 112 and the base 12 are integrally formed, the draft 105 can also be provided between the end of the first channel side portion 111 distal to the first channel end portion 1101 and the end of the second channel side portion 112 distal to the first channel end portion 1101.

[0084] As Figure 3 and Figure 6As shown, in some embodiments, the shell assembly 100 further comprises an upper cover 30, which comprises a top plate 31 and a side plate 32. The top plate 31 is arranged above the middle shell 10; the upper end of the side plate 32 is connected to the top plate 31, the side plate 32 surrounds the optical channel structure 11 and the side light-blocking structure 20, and the lower end of the side plate 32 is connected to the base 210. In this way, the upper cover 30 can play a protective role on the outer side and the upper side of the optical channel structure 11 and the side light-blocking structure 20, preventing dust and other sundries from entering the inside of the shell assembly 100 through the position where the upper cover 30 is located. At least part of the side plate 32 is made of a light-transmitting material. In this way, the detection light beam in the optical channel structure 11 can penetrate the light-transmitting part of the side plate 32 through the optical transceiver port 101 to shoot at the external object. The detection light beam reflected by the external object can also penetrate the light-transmitting part of the side plate 32 and enter the optical channel structure 11 through the optical transceiver port 101.

[0085] In some embodiments, the side plate 32 is made of a light-transmitting material as a whole, or only the part of the side plate 32 that needs to be penetrated by the detection light beam is made of a light-transmitting material, and the remaining part of the side plate 32 is made of a non-light-transmitting material or a low-light-transmitting material. The light-transmitting rate of the light-transmitting material can be greater than or equal to 80%, and the light-transmitting rate of the low-light-transmitting material can be greater than 0 and less than the light-transmitting rate of the light-transmitting material.

[0086] In some embodiments, the top plate 31 and the side plate 32 are integrally formed, so as to facilitate the production and manufacturing of the upper cover 30. In other embodiments, the top plate 31 and the side plate 32 are separately arranged and fixedly connected, so as to facilitate the top plate 31 and the side plate 32 to be made of different materials, for example, the top plate 31 is made of a non-light-transmitting material or a low-light-transmitting material, and at least part of the side plate 32 is made of a light-transmitting material. Even, the top plate 31 and the side plate 32 can be made of the same light-transmitting material.

[0087] In some embodiments, the top plate 31 is provided with a light-blocking layer or a low-light-transmitting layer, and the light-transmitting rate of the low-light-transmitting layer is greater than 0 and less than the light-transmitting rate of the light-transmitting material. In this way, the ambient light from the outside can be blocked to a certain extent on the upper side of the middle shell 10, so as to reduce or even isolate the ambient light from entering the inside of the shell assembly 100 through the position where the top plate 31 is located. In other embodiments, the material of the top plate 31 is a non-light-transmitting material. In this way, the ambient light from the outside can be completely isolated from entering the inside of the shell assembly 100 through the position where the top plate 31 is located. In other embodiments, the shell assembly 100 further comprises an upper light-blocking structure, which at least partially covers the optical channel structure 11 arranged above. The upper light-blocking structure is connected to the middle shell 10 or the upper cover 30. In this way, the ambient light from the outside can be limited from entering the inside of the optical channel structure 11 through the position where the upper light-blocking structure is located.

[0088] Optionally, the upper light-blocking structure completely covers the optical channel structure 11 on the upper side of the optical channel structure 11, so as to completely isolate ambient light from entering the interior of the optical channel structure 11 through the upper side of the optical channel structure 11, and to achieve a better light protection effect.

[0089] In the implementation process, the light-blocking layer can be coated on the top plate 31 by using a material having a light-blocking effect, or can be attached to the top plate 31 by using a patch having a light-blocking effect; the low-transmittance layer can be coated on the top plate 31 by using a material having a low-transmittance effect, or can be attached to the top plate 31 by using a patch having a low-transmittance effect, or can be subjected to frosted processing to form a low-transmittance layer on the surface of the top plate 31.

[0090] As shown in Figures 5 to 7 In some embodiments, the shell assembly 100 further includes an upper cover 30, and the upper cover 30 includes a side plate 32; the side plate 32 surrounds the optical channel structure 11 and the side light-blocking structure 20, and at least part of the material of the side plate 32 is a light-transmitting material.

[0091] The optical channel structure 11 has an extension portion 1101a extending from the base 12 to the side plate 32 along the first direction X, and a projection of the extension portion 1101a of the optical channel structure 11 along the up-down direction Z is located between a projection of the side plate 32 along the up-down direction Z and a projection of the base 12 along the up-down direction Z, so that the optical channel structure 11 can be as close as possible to the side plate 32 and even can be attached to the inner side wall of the side plate 32, so as to reduce or eliminate the distance between the optical channel structure 11 and the side plate 32, and the detection light beam can pass through the side plate 32 to irradiate an external object after passing through the interior of the optical channel structure 11, so as to reduce the possibility that the detection light beam is reflected back to the interior of the optical channel structure 11 by the inner side wall of the side plate 32 and affects the detection effect.

[0092] The extension portion 1101a is located at the first channel end portion 1101 of the optical channel structure 11.

[0093] In some embodiments, the optical channel structure 11 and the base 12 are integrally formed, and the first channel side portion 111 and the second channel side portion 112 define the ejection port 105 described above, so as to realize the demolding feasibility of the optical channel structure 11 and the base 12 after being formed.

[0094] As shown in Figures 5 to 7 In some embodiments, the middle shell 10 further includes a lower light-blocking portion 13, and the lower light-blocking portion 13 extends from the base 12 to the side plate 32 along the first direction X, and the lower light-blocking portion 13 is opposite to the extension portion 1101a of the optical channel structure 11 along the up-down direction Z. Through the above arrangement, the lower light-blocking portion 13 can block the detection light beam in the interior of the optical channel structure 11, and prevent the detection light beam from irradiating the lower side of the extension portion 1101a of the optical channel structure 11.

[0095] It is understandable that when the middle shell 10 is rotatably mounted on the base 210 about a rotation axis, due to the structural design of the optical channel structure 11, the center of gravity of the middle shell 10 will deviate from this rotation axis, causing the middle shell 10 to become unbalanced during its rotation relative to the base 210 about the rotation axis. Therefore, as Figure 8 As shown, in some embodiments, the housing assembly 100 further includes a balancing structure 40, which is disposed on the side of the side light-blocking structure 20 away from the optical channel structure 11. This allows the center of gravity of the middle housing 10 and the balancing structure 40 as a whole to be as close as possible or substantially close to the axis of rotation, thereby achieving dynamic balance of the rotation of the middle housing 10 relative to the base 210 around the axis of rotation and reducing the vibration generated during the rotation.

[0096] In some embodiments, the housing assembly 100 further includes a top cover 30, which includes a side plate 32. The side plate 32 surrounds the outer side of the optical channel structure 11, the outer side of the side light-blocking structure 20, and the outer side of the balancing structure 40, and at least a portion of the side plate 32 is made of a light-transmitting material. The balancing structure 40 extends from the side light-blocking structure 20 along a first direction X toward the side plate 32, such that the extension direction of the balancing structure 40 is aligned with the extension direction of the first channel end 111 of the optical channel structure 11, which facilitates the dynamic balance of the rotation of the middle housing 10 and reduces vibrations generated during rotation.

[0097] like Figure 4 and Figure 5 As shown, in some embodiments, the optical channel structure 11 further includes an intermediate channel side portion 113. The number of intermediate channel side portions 113 is at least one, and at least one intermediate channel side portion 113 is disposed between the first channel side portion 111 and the second channel side portion 112. The first channel side portion 111, the second channel side portion 112, and at least one intermediate channel side portion 113 are distributed at intervals along the second direction Y. Along the second direction Y, the first channel side portion 111, the second channel side portion 112, and at least one intermediate channel side portion 113 are spaced to form at least two channel spaces. The at least two channel spaces combine to form the aforementioned optical channel 104. One of the at least two channel spaces is a transmitting channel 1041, which has an optical transmitting port. The other of the at least two channel spaces is a receiving channel 1042, which has an optical receiving port. The optical transmitting port and the optical receiving port combine to form the aforementioned optical transceiver port 101.

[0098] The detection beam emitted by the optical transceiver 220 is adapted to pass through the transmission channel 1041 and the optical transmission port before being directed toward an external object. The detection beam reflected back by the external object is adapted to pass through the optical receiving port and the receiving channel 1042 before being directed toward the optical transceiver 220.

[0099] In some embodiments, the number of intermediate channel sides 113 is two, both of which are located between the first channel side 111 and the second channel side 112, and together define the emission channel 1041 between the two intermediate channel sides 113, and together define the receiving channel 1042 between one of the two intermediate channel sides 113 and the first channel side 111, and together define the other receiving channel 1042 between the other of the two intermediate channel sides 113 and the second channel side 112.

[0100] It can be understood that the number of emission channels 1041 and receiving channels 1042 can be set as needed, and then a corresponding number of intermediate channel sides 113 are selected to cooperate with the first channel side 111 and the second channel side 112 to define the emission channel 1041 and the receiving channel 1042. Among them, if the optical transceiver is a single emission and single reception side design, that is, the optical transmitter and the optical receiver of the optical transceiver are both one and the axis is parallel or at an angle, only one emission channel 1041 and one receiving channel 1042 are needed, and thus one intermediate channel side 113 can be selected to cooperate with the first channel side 111 and the second channel side 112 to define one emission channel 1041 and one receiving channel 1042; if the optical transceiver is a coaxial design, that is, the optical transmitter and the optical receiver of the optical transceiver are coaxially arranged, generally the optical receiver is sleeved outside the optical transmitter, and thus in order to ensure the reception of the light beam, two receiving channels 1042 need to be arranged on both sides of the emission channel 1041, and thus two intermediate channel sides 113 can be selected to cooperate with the first channel side 111 and the second channel side 112 to define one emission channel 1041 and two receiving channels 1042.

[0101] In addition, if the optical transceiver is a single emission and multiple reception side design, one emission channel 1041 and multiple receiving channels 1042 are needed; if the optical transceiver is a multiple emission and single reception side design, multiple emission channels 1041 and one receiving channel 1042 are needed; if the optical transceiver is a multiple emission and multiple reception side design, multiple emission channels 1041 and multiple receiving channels 1042 are needed. According to the number of emission channels 1041 and receiving channels 1042, a corresponding number of intermediate channel sides 113 are selected to cooperate with the first channel side 111 and the second channel side 112 to define a corresponding number of emission channels 1041 and receiving channels 1042, which will not be described in detail here.

[0102] 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 configured to be disposed on a base of an optical distance measuring device, the housing assembly comprising: The shell assembly comprises a middle shell and a side light-blocking structure, the middle shell comprises a base and an optical channel structure, and the optical channel structure is arranged on the upper side of the base; The first channel end of the optical channel structure is provided with an optical transceiving port, and the second channel end of the optical channel structure is oppositely arranged with the side light-blocking structure along a first direction; wherein the first channel end and the second channel end are opposite ends of the optical channel structure in the first direction, and the first direction is the extension direction of the optical channel structure, and the first direction is perpendicular to the up-down direction or is arranged at an angle with the up-down direction.

2. The housing assembly of claim 1, wherein, A containing cavity is defined between the second channel end and the side light-blocking structure, the containing cavity is communicated with the optical transceiving port, and the containing cavity is used for containing the optical transceiver of the optical distance measuring device; wherein The detection light beam emitted by the optical transceiver of the optical distance measuring device is adapted to be emitted from the side where the second channel end is located to the side where the first channel end is located and to be emitted to an external object through the optical transceiving port, and the detection light beam reflected by the external object is adapted to be received by the optical transceiver after being emitted through the optical transceiving port and from the side where the first channel end is located to the side where the second channel end is located.

3. The housing assembly of claim 2, wherein, The middle shell defines a light transmission hole, the light transmission hole is located on the lower side of the containing cavity, and the light transmission hole is communicated with the containing cavity; the optical transceiver comprises a mirror, and the mirror is used for transmitting and receiving the detection light beam between the optical transceiving port and the light transmission hole.

4. The housing assembly of claim 3, wherein, Further comprising an upper cover; The shell assembly further comprises an upper light-blocking structure, the upper light-blocking structure is connected to the middle shell or the upper cover; the upper light-blocking structure is located above the middle shell and at least partially covers the upper side of the optical channel structure and / or the containing cavity.

5. The housing assembly of claim 1, wherein, The first channel side and the second channel side of the optical channel structure are spaced apart along a second direction and jointly define an optical channel, and the optical channel is formed with the optical transceiving port; wherein the first channel side and the second channel side are opposite sides of the optical channel structure in the second direction, and the first direction and the second direction are perpendicular to each other; the second direction is perpendicular to the up-down direction, or the second direction is arranged at an angle with the up-down direction; The first light-blocking end of the side light-blocking structure extends to the inner side of the first channel side facing the optical channel, and the first light-blocking end is connected to or spaced apart from the inner side wall of the first channel side; or the first light-blocking end of the side light-blocking structure extends to the outer side of the first channel side away from the optical channel, and the first light-blocking end is connected to or spaced apart from the outer side wall of the first channel side; or the first light-blocking end of the side light-blocking structure extends to the horizontal end face of the first channel side in the first direction, and the first light-blocking end is connected to or spaced apart from the horizontal end face of the first channel side in the first direction; The second light-blocking end of the side light-blocking structure extends to the inner side of the second channel side facing the optical channel, and the second light-blocking end is connected to or spaced apart from the inner side wall of the second channel side; or the second light-blocking end of the side light-blocking structure extends to the outer side of the second channel side away from the optical channel, and the second light-blocking end is connected to or spaced apart from the outer side wall of the second channel side; or the second light-blocking end of the side light-blocking structure extends to the horizontal end face of the second channel side in the first direction, and the second light-blocking end is connected to the horizontal end face of the second channel side in the first direction; wherein the first light-blocking end and the second light-blocking end are parts on opposite sides of the side light-blocking structure in the second direction.

6. The housing assembly of claim 1, wherein, The first channel side and the second channel side of the optical channel structure are spaced apart in the second direction and jointly define an optical channel, and the optical channel is formed with the optical transceiving port; wherein the first channel side and the second channel side are parts on opposite sides of the optical channel structure in the second direction, and the first direction and the second direction are perpendicular to each other; the second direction is perpendicular to the up-down direction, or the second direction is arranged at an angle with the up-down direction; The first channel side, the second channel side and the base are integrally formed, and the end of the first channel side and the end of the second channel side define a stripping port, and the stripping port is arranged at the first channel end or the second channel end of the optical channel structure or the upper end away from the base; in the direction away from the stripping port, the distance between the first channel side and the second channel side gradually decreases.

7. The housing assembly of claim 1, wherein, Further comprising an upper cover, the upper cover comprising a top plate and a side plate; the top plate is arranged above the middle shell; the upper end of the side plate is connected with the top plate, the side plate surrounds the optical channel structure and the side light-blocking structure, the lower end of the side plate is connected with the base, and at least part of the material of the side plate is a light-transmitting material.

8. The housing assembly of claim 7, wherein, The top plate and the side plate are integrally formed or separately arranged and fixedly connected; And / or, The top plate is provided with a light-blocking layer or a low-transmittance layer, the transmittance of the low-transmittance layer is greater than 0 and less than the transmittance of the light-transmitting material; or the material of the top plate is a non-light-transmitting material; or the shell assembly further comprises an upper light-blocking structure, the upper light-blocking structure at least partially covers the optical channel structure, and the upper light-blocking structure is connected to the middle shell or the upper cover.

9. The housing assembly of claim 1, wherein, Further comprising an upper cover, the upper cover comprising a side plate; the side plate surrounds the optical channel structure and the side light-blocking structure, and at least part of the material of the side plate is a light-transmitting material; The optical channel structure has an epitaxial part extending from the base to the side plate in the first direction, and the projection of the epitaxial part of the optical channel structure in the up-down direction is located between the projection of the side plate in the up-down direction and the projection of the base in the up-down direction.

10. The housing assembly of claim 9, wherein, The middle shell further comprises a lower light blocking portion extending from the base portion to the side plate in the first direction, the lower light blocking portion being opposite to an outer extension portion of the optical channel structure in the up-down direction.

11. The housing assembly of any one of claims 1-8, wherein, A balance structure is further included, the balance structure being disposed on a side of the side light blocking structure away from the optical channel structure.

12. The housing assembly of claim 11, wherein, An upper cover is further included, the upper cover comprising a side plate, the side plate surrounding an outer side of the optical channel structure, an outer side of the side light blocking structure, and an outer side of the balance structure, at least a portion of the side plate being made of a light-transmissive material. The balance structure extends from the side light blocking structure to the side plate in the first direction.

13. An optical distance measuring device, characterized in that The shell assembly of any one of claims 1 to 12 and a base are included, wherein the middle shell is fixedly disposed relative to the base or rotatably disposed about a rotation axis, an extension direction of the rotation axis being parallel to the up-down direction.

14. A mobile robot, characterized by A robot body and the optical distance measuring device of claim 13 are included, the optical distance measuring device being disposed on the robot body.

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