Optical distance measuring device and self-moving equipment

Abstract

The utility model belongs to the technical field of optical ranging, and discloses an optical ranging device and a self-moving device, the optical ranging device comprises a seat body and an optical machine assembly arranged on the seat body, the optical machine assembly comprises a transmitting part, a transmitting lens, a receiving part and a receiving lens comprising a first receiving lens and a second receiving lens, the emitting part is used for emitting a detection light beam comprising a first light beam and a second light beam; the optical axis of the second beam and the optical axis of the first beam form an acute angle; the emitting lens is positioned on the light-emitting side of the emitting part; the receiving lens is positioned on the light receiving side of the receiving part; the optical axis of the first receiving lens and the optical axis of the second receiving lens form an acute angle. A first light beam and a second light beam emitted by the emitting part are emitted to the emitting lens and are emitted to the external environment after being collimated by the emitting lens, and the first light beam and the second light beam reflected by the external environment are focused to the receiving part through the first receiving lens and the second receiving lens respectively. The device can realize multifunctional detection, and is low in production cost and small in occupied space.

Description

TECHNICAL FIELD

[0001] The utility model relates to optical ranging technical field especially, relate to an optical ranging device and self -moving device. BACKGROUND

[0002] Optical ranging device such as laser radar is the core component of self -moving device to realize accurate navigation, intelligent obstacle avoidance etc., miniaturization and light weight, and low cost is the important challenge of its expansion application range and market.

[0003] Taking a floor cleaning robot as an example, the floor cleaning robot needs to move in the predetermined barrier-free scene and clean, also needs to clean sofa bottom, bed bottom etc. low scene, which requires that the overall height of the floor cleaning robot should not be too high, and correspondingly, as the laser radar installed on the top, side, inside etc. of the floor cleaning robot, the space should not be too large.

[0004] However, to realize the environment mapping, obstacle avoidance function etc. of the floor cleaning robot, the floor cleaning robot is generally provided with multiple laser radars for performing different single detection tasks, or is provided with integrated laser radars with multiple detection tasks, but no matter what kind of way, the inventor finds through practice that the space occupied by the existing laser radars in the floor cleaning robot is generally large, and the cost is high. SUMMARY

[0005] The purpose of the embodiment of the utility model is to solve the technical problem of single function or complex structure of the existing optical ranging device.

[0006] To solve the above technical problem, the embodiment of the utility model provides an optical ranging device, which adopts the technical scheme as follows:

[0007] The optical ranging device comprises a seat body and a light machine assembly, the light machine assembly is arranged on the seat body, and the light machine assembly comprises:

[0008] A transmitting part is used for transmitting a detection beam; the detection beam comprises a first light beam and a second light beam; the optical axis of the second light beam is arranged at an acute angle with the optical axis of the first light beam;

[0009] A transmitting lens is located on the light-emitting side of the transmitting part;

[0010] A receiving part;

[0011] A receiving lens is located on the light-receiving side of the receiving part; the receiving lens comprises a first receiving lens and a second receiving lens, and the optical axis of the first receiving lens is arranged at an acute angle with the optical axis of the second receiving lens;

[0012] The first light beam emitted by the emitting part is incident on the emitting lens and is collimated by the emitting lens and then is incident on the external environment; the first light beam reflected by the external environment is focused by the first receiving lens and then is incident on the receiving part;

[0013] The second light beam emitted by the emitting part is incident on the emitting lens and is collimated by the emitting lens and then is incident on the external environment; the second light beam reflected by the external environment is focused by the second receiving lens and then is incident on the receiving part.

[0014] In some embodiments, the optical axis of the first light beam passes through the optical center of the emitting lens; and / or, the optical axis of the second light beam passes through the optical center of the emitting lens; and / or, the optical axis of the first light beam is parallel to the optical axis of the emitting lens, and the optical axis of the second light beam forms a preset angle with the optical axis of the emitting lens;

[0015] The emitting part comprises a first emitting unit for emitting the first light beam, and the first emitting unit is located on the focal point or focal plane of the emitting lens; and / or, the emitting part comprises a second emitting unit for emitting the second light beam, and the second emitting unit is located on the focal point or focal plane of the emitting lens; and / or, the emitting part comprises a third emitting unit and a light splitting unit, the third emitting unit is used for emitting a third light beam, and the light splitting unit is used for splitting the third light beam into the first light beam and the second light beam;

[0016] The focal point of the first receiving lens and the focal point of the second receiving lens are both located on the receiving part; the focal point of the first receiving lens and the focal point of the second receiving lens are coincident, or along the extension direction of the optical axis of the first receiving lens, the focal point of the first receiving lens and the focal point of the second receiving lens are both arranged opposite to the first receiving lens;

[0017] The optical axis of the first receiving lens is parallel to the optical axis of the first light beam emitted by the emitting part; and / or, the optical axis of the second receiving lens is parallel to the optical axis of the second light beam emitted by the emitting part.

[0018] In some embodiments, the first receiving lens and the second receiving lens are integrally formed or are separately arranged;

[0019] And / or, the exit surface of the first receiving lens is flush with the exit surface of the second receiving lens, or the entrance surface of the first receiving lens is flush with the entrance surface of the second receiving lens;

[0020] And / or, along the direction of the line connecting the optical center of the first receiving lens and the optical center of the second receiving lens, the width of the first receiving lens is greater than the width of the second receiving lens.

[0021] In some embodiments, the optical distance measuring device further comprises a rotating mirror assembly rotatably arranged on the seat body about a rotation axis;

[0022] The first light beam emitted by the emitting portion is reflected by the rotating mirror assembly towards the outside environment after being collimated by the emitting lens, and the first light beam reflected by the outside environment is reflected by the rotating mirror assembly to the first receiving lens and focused by the first receiving lens to the receiving portion;

[0023] The second light beam emitted by the emitting portion is reflected by the rotating mirror assembly towards the outside environment after being collimated by the emitting lens, and the second light beam reflected by the outside environment is reflected by the rotating mirror assembly to the second receiving lens and focused by the second receiving lens to the receiving portion.

[0024] In some embodiments, the optical axis of the first light beam collimated by the emitting lens is perpendicular to the rotation axis; and / or, the optical axis of the first receiving lens is perpendicular to the rotation axis;

[0025] The emitting portion comprises a first emitting unit for emitting the first light beam and a second emitting unit for emitting the second light beam; along the direction from the axial first side to the axial second side of the rotation axis, the second emitting unit and the first emitting unit are arranged in sequence, the projection of the second emitting unit and the projection of the first emitting unit are completely staggered, partially overlapped or completely overlapped, and / or, along the direction from the axial first side to the axial second side of the rotation axis, the first receiving lens and the second receiving lens are arranged in sequence, the projection of the first receiving lens and the projection of the second receiving lens are completely staggered, partially overlapped or completely overlapped;

[0026] In the direction close to the rotation axis, the optical axis of the second light beam collimated by the emitting lens is arranged obliquely relative to the rotation axis and the oblique direction is gradually close to the axial second side of the rotation axis; and / or, in the direction away from the rotation axis, the optical axis of the second receiving lens is arranged obliquely relative to the rotation axis and the oblique direction is gradually close to the axial first side of the rotation axis.

[0027] In some embodiments, the optical-mechanical assembly is provided with a first optical cavity and a second optical cavity, and a third optical cavity is formed in the seat body:

[0028] The first optical cavity accommodates the emitting portion and the emitting lens, and the emitting lens is capped at the light outlet of the first optical cavity;

[0029] The second optical cavity contains the receiving part and the receiving lens, and the receiving lens covers the light receiving port of the second optical cavity;

[0030] The third optical cavity contains the rotating mirror assembly; the rotating mirror assembly includes a first mirror body, a second mirror body, and a first light blocking member, the first light blocking member separates the third optical cavity into a transmitting optical cavity and a receiving optical cavity, the transmitting optical cavity communicates with the first optical cavity, and the receiving optical cavity communicates with the second optical cavity; the first mirror body is located in the transmitting optical cavity, and a reflecting surface of the first mirror body is used for reflecting the detection light beam emitted from the first optical cavity to the external environment; the second mirror body is located in the receiving optical cavity, and a reflecting surface of the second mirror body is used for reflecting the detection light beam reflected from the external environment to the receiving lens in the second optical cavity.

[0031] In some embodiments, the seat body is provided with a light guide port, the light guide port communicates the third optical cavity with the external environment;

[0032] The seat body is provided with a second light blocking member at the light guide port, the second light blocking member separates the light guide port into a light emitting port and a light receiving port, and the second light blocking member is arranged in a radial direction opposite to the first light blocking member along the rotation axis, the light emitting port is used for emitting the detection light beam from the transmitting optical cavity to the external environment, and the light receiving port is used for reflecting the detection light beam from the external environment to the receiving optical cavity;

[0033] One side of the second light blocking member facing the light emitting port is provided with a first inclined surface and a second inclined surface, the first inclined surface gradually approaches an axial second side of the rotation axis in a direction away from the transmitting lens, and the second inclined surface gradually approaches the axial second side of the rotation axis in a direction close to the transmitting lens.

[0034] In some embodiments, the seat body is further provided with a third light blocking member at the light guide port, the third light blocking member is located on a side of the light receiving port away from the second light blocking member, one side of the second light blocking member facing the light receiving port is provided with a third inclined surface and a fourth inclined surface, the third inclined surface gradually approaches the axial second side of the rotation axis in a direction away from the receiving lens, and the fourth inclined surface gradually approaches the axial second side of the rotation axis in a direction close to the receiving lens.

[0035] In some embodiments, the rotating mirror assembly further includes a driving seat, the driving seat is arranged on a side of the second mirror body away from the second light blocking member;

[0036] The optical distance measuring device further includes a driving assembly, the driving assembly is arranged on the seat body, and the driving assembly is connected with the driving seat to drive the rotating mirror assembly to rotate around the rotation axis;

[0037] The fifth inclined surface is arranged on one side of the driving seat facing the second mirror body, and gradually approaches the axial second side of the rotation axis in a direction away from the rotation axis.

[0038] To solve the above technical problems, the utility model embodiment further provides a kind of self-moving device, using the technical scheme as follows: the self-moving device includes body and above-mentioned optical distance measuring device, and the optical distance measuring device is arranged on the body.

[0039] Compared with prior art, the optical distance measuring device and the self-moving device provided by the utility model embodiment mainly have the following beneficial effects:

[0040] The optical distance measuring device focuses the reflected first light beam and second light beam emitted by the emitting part respectively by using the first receiving lens and the second receiving lens, and configures the optical axes of the first receiving lens and the second receiving lens as an acute angle, so that the focal lengths of the two are different, which helps to ensure that the reflected first light beam and second light beam are focused on the same receiving part, respectively. On the one hand, the receiving lens with low material cost and mass production can assist in realizing multifunctional detection, greatly reducing production cost and facilitating the manufacture of consumer-level multifunctional detection self-moving equipment.

[0041] On the other hand, by concentrating the emitting part capable of emitting at least the first light beam and the second light beam, the single emitting lens capable of collimating the first light beam and the second light beam, the receiving lens capable of focusing each detection light beam reflected back, and the single receiving part capable of receiving each detection light beam focused, on the same optical distance measuring device, a single optical distance measuring device can have multiple detection functions, and the structure is more compact, which helps to reduce the occupied space of the optical distance measuring device in the self-moving equipment. BRIEF DESCRIPTION OF DRAWINGS

[0042] To more clearly illustrate the scheme in the utility model, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are some embodiments or corresponding prior art of the utility model, and those skilled in the art can also obtain other drawings from these drawings without creative labor. Among them:

[0043] Figure 1 is a plane full sectional view of the optical distance measuring device in one example of the utility model;

[0044] Figure 2 is Figure 1 is a perspective sectional view of the optical machine assembly of the optical distance measuring device in

[0045] Figure 3is a working principle schematic block diagram of the light machine assembly in one example of the utility model;

[0046] Figure 4 is a plane partial sectional view of the optical ranging device in one example of the utility model;

[0047] Figure 5 is a three-dimensional structure schematic view of the optical ranging device in one example of the utility model;

[0048] Figure 6 is a three-dimensional structure schematic view of the light machine assembly, rotating mirror assembly and inner shell assembly in one example of the utility model;

[0049] Figure 7 is a three-dimensional structure schematic view of the shell of the seat body in one example of the utility model.

[0050] The signs in the drawings are as follows:

[0051] 100, optical ranging device;200, first light beam / mapping light beam;300, second light beam / obstacle avoidance light beam;400, rotating axis;410, first side in axial direction;420, second side in axial direction;

[0052] 1, seat body;11, third light cavity;111, emitting light cavity;112, receiving light cavity;12, light guide port;121, light exit port;122, light receiving port;13, second light shielding part;131, first inclined surface;132, second inclined surface;14, third light shielding part;141, third inclined surface;142, fourth inclined surface;15, inner shell;16, outer shell;

[0053] 2, light machine assembly;21, emitting part;211, first emitting unit;212, second emitting unit;22, emitting lens;23, receiving part;24, receiving lens;241, first receiving lens;242, second receiving lens;25, first light cavity;26, second light cavity;27, mounting seat;28, circuit board;

[0054] 3, rotating mirror assembly;31, first mirror body;32, second mirror body;33, support;34, first light shielding part;35, driving seat;351, fifth inclined surface;36, rotating shaft;4, driving assembly. DETAILED DESCRIPTION

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification herein is for describing particular embodiments only and is not intended to be limiting of the application. For example, the terms "length", "width", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, merely describe the orientation in the drawings on which the application is illustrated and are not intended to be limiting of the application.

[0056] The terms "comprise", "have" and any variations thereof in the specification and claims of the application and in the accompanying drawings mean "including, but not limited to" and not "consist of" or "composed of"; the terms "first", "second", and the like in the specification and claims of the application or in the above drawings are used to distinguish different objects, and are not intended to describe a specific order. The meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0057] In the specification and claims of the application and in the above drawings, when an element is referred to as being "fixed to", or "attached to", or "disposed on", or "connected to" another element, it can be directly or indirectly on, connected to, or coupled to the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. When the term "and / or" is used, it means to include three parallel schemes, for example, "A scheme and / or B scheme" includes A scheme, or B scheme, or both A and B schemes.

[0058] In addition, the description herein referring to "embodiments", "implementations", "examples", and the like means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the application. These phrases appearing at various places in the specification are not necessarily all referring to the same embodiment, nor are they mutually exclusive or alternative embodiments to each other. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0059] The optical distance measuring device 100 provided by the embodiment of the application is applicable to a self-moving device (not shown in the figure), and can be used to identify the distance between the self-moving device and external objects, and can be used for environmental map construction, obstacle identification and obstacle avoidance, positioning and navigation, etc., thereby guiding the driving and working of the self-moving device.

[0060] It should be noted that the self-moving device described herein can be used indoors or outdoors, including but not limited to cleaning robots (such as floor sweeping robots, floor mopping robots, all-in-one cleaning robots, water surface cleaning robots, etc.), lawn mowing robots, logistics robots (such as robots used for object transportation in factories, restaurants, hotels, etc.), and the like. In addition, the optical ranging device 100 described herein can be selected as a semi-solid laser radar, and of course, it can also be other suitable types or structures of optical ranging products.

[0061] As shown in Figure 1 and Figure 4 , the optical ranging device 100 includes a seat body 1 and a light machine assembly 2, and the light machine assembly 2 is arranged on the seat body 1. As shown in Figures 1 to 3 , the light machine assembly 2 includes an emitting part 21, an emitting lens 22, a receiving part 23, and a receiving lens 24. The emitting part 21 can be used to emit a detection light beam, and the emitting lens 22 can be used to collimate the divergent detection light beam emitted by the emitting part 21 to reduce the rapid attenuation of the detection light beam due to divergence. The receiving part 23 can be used to simultaneously receive at least two reflected detection light beams, and correspondingly, the receiving lens 24 can be used to simultaneously focus the at least two reflected detection light beams to reduce the loss of light energy of the reflected detection light beams, suppress the interference of ambient light, and improve the spatial resolution of the multiple reflected detection light beams, thereby enhancing the light intensity of the effective signal of the detection light beam and facilitating the improvement of the ranging accuracy and the signal-to-noise ratio.

[0062] In order to realize the diversity of the detection function of the optical ranging device 100, as shown in Figure 3 , the detection light beam includes a first light beam 200 (such as the blue line shown in Figure 3 ) and a second light beam 300 (such as the red line shown in Figure 3 ), and the optical axis of the second light beam 300 is arranged at an acute angle with the optical axis of the first light beam 200.

[0063] Among them, in order to realize the acute angle arrangement between the optical axis of the first light beam 200 and the optical axis of the second light beam 300, the optical axis of the first light beam 200 and the optical axis of the second light beam 300 can be intersected on the same plane to have an intersection, or can not be on the same plane to stagger the intersection to not have an intersection.

[0064] It should be noted that during emission, the first light beam 200 and the second light beam 300 can be emitted in sequence or simultaneously. In actual application, the emitting part 21 is not limited to emitting only the first light beam 200 and the second light beam 300.

[0065] In addition, the first light beam 200 and the second light beam 300 are usually used for different detection purposes, for example, the first light beam 200 can be used for long-distance detection, and the second light beam 300 can be used for short-distance detection. Exemplarily, the first light beam 200 can be a mapping light beam 200, and the second light beam 300 can be an obstacle avoidance light beam 300, wherein the long-distance coverage through the mapping light beam 200 facilitates scanning the surrounding environment to build a high-precision 2D or 3D map, or to detect the contour, distance and position of an object to plan a driving path or make scene analysis, etc. The obstacle avoidance light beam 300 can detect obstacles in the near field, thereby facilitating triggering emergency avoidance to ensure the safe and smooth operation of the self-moving device.

[0066] Understandably, when the first light beam 200 is a mapping light beam 200 and the second light beam 300 is an obstacle avoidance light beam 300, by configuring the mapping light beam 200 and the obstacle avoidance light beam 300 emitted by the emitting part 21 to be arranged at an acute angle between the optical axes of the two, for example, the mapping light beam 200 can be configured to be directed to the front of the self-moving device, and the obstacle avoidance light beam 300 can be configured to be directed to the platform (specifically, the ground) supporting the self-moving device. In this way, it can be ensured that the coverage range of the mapping light beam 200 is wider, which is beneficial to expanding the mapping area, and it can also be ensured that the near-field blind area of the obstacle avoidance light beam 300 is smaller when detecting the periphery of the self-moving device, which is beneficial to improving the obstacle avoidance accuracy.

[0067] In the embodiment of the utility model, as shown in Figures 1 to 3 The emitting lens 22 is located on the light emitting side of the emitting part 21, and the receiving lens 24 is located on the light receiving side of the receiving part 23. It should be noted that other mirrors for adjusting the direction of the light path can also be arranged between the emitting part 21 and the emitting lens 22. Similarly, other mirrors for adjusting the direction of the light path can also be arranged between the receiving lens 24 and the receiving part 23, which are not particularly limited here.

[0068] The receiving lens 24 includes a first receiving lens 241 and a second receiving lens 242, and the optical axis of the first receiving lens 241 and the optical axis of the second receiving lens 242 are arranged at an acute angle (see Figure 3 ). Among them, the first light beam 200 emitted by the emitting part 21 is directed to the emitting lens 22 and collimated by the emitting lens 22 and then directed to the external environment. The first light beam 200 reflected back by the external environment is focused to the receiving part 23 by the first receiving lens 241 (see Figure 3 ). Similarly, the second light beam 300 (for example, the red line shown in Figure 3 ) emitted by the emitting part 21 is directed to the emitting lens 22 and collimated by the emitting lens 22 and then directed to the external environment. The second light beam 300 reflected back by the external environment is focused to the receiving part 23 by the second receiving lens 242 (see Figure 3 ).

[0069] Understandably, by setting the first receiving lens 241 and the second receiving lens 242, the first receiving lens 241 is used to focus the first light beam 200 reflected back by the outside environment, and the second receiving lens 242 is used to focus the second light beam 300 reflected back by the outside environment, so as to effectively reduce the light energy loss of the reflected first light beam 200 and the second light beam 300, and inhibit the interference of ambient light, thereby enhancing the light intensity of each light beam, and further improving the ranging accuracy and signal-to-noise ratio. In addition, by configuring the optical axis of the first receiving lens 241 and the optical axis of the second receiving lens 242 at an acute angle, the focal lengths of the first receiving lens 241 and the second receiving lens 242 are different, so as to ensure that the reflected first light beam 200 and the second light beam 300 can be focused on the same receiving part 23. In short, by configuring a plurality of receiving lenses 24 with different focal lengths on the light receiving side of the receiving part 23, the reflected detection light beams can be focused and focused on the receiving surface of the same receiving part 23, so as to realize the multiple detection functions of the optical ranging device 100.

[0070] In this way, compared with the prior art that multiple laser radars are used to realize multiple detection functions, the optical ranging device 100 directly configures the emission part 21 capable of emitting at least the first light beam 200 and the second light beam 300, the single emission lens 22 capable of collimating the first light beam 200 and the second light beam 300, the receiving lenses 24 capable of focusing the reflected detection light beams (such as the first light beam 200 and the second light beam 300), and the single receiving part 23 capable of receiving the focused detection light beams on the same optical ranging device 100, so that a single optical ranging device 100 can have multiple detection functions. Obviously, the structure is more compact, which is beneficial to reduce the occupied space of the optical ranging device 100 in the self-moving device.

[0071] Compared with the prior art that photoelectric detectors (such as SPAD arrays) are independently arranged in each light channel to receive multiple detection light beams to realize multiple detection functions, the materials (such as glass or resin) of the receiving lenses 24 used by the optical ranging device 100 generally have lower cost and can be mass-produced. Obviously, the overall production cost is lower, which is beneficial to realize the manufacturing of self-moving devices suitable for consumer-level multi-function detection.

[0072] It should be noted that when the optical axis of the first receiving lens 241 and the optical axis of the second receiving lens 242 are arranged at an acute angle, the optical axis of the first receiving lens 241 and the optical axis of the second receiving lens 242 can intersect on the same plane to have an intersection, or can not be on the same plane to stagger the intersection to have no intersection.

[0073] In addition, when receiving the reflected detection beams, the first receiving lens 241 and the second receiving lens 242 can focus the corresponding detection beams in sequence or simultaneously. In actual application, the receiving lens 24 is not limited to the first receiving lens 241 and the second receiving lens 242, and there can be more receiving lenses 24, and the number of receiving lenses 24 is usually consistent with the number of light beams emitted by the emitting part 21. Correspondingly, the first receiving lens 241 can be a mapping lens, and the second receiving lens 242 can be an obstacle avoidance lens.

[0074] Exemplarily, as shown in Figure 1 and Figure 2 The optical machine assembly 2 further comprises a mounting seat 27 and a circuit board 28, wherein the emitting part 21, the emitting lens 22, the receiving lens 24, the receiving part 23 and the circuit board 28 are all arranged in the mounting seat 27, and the emitting part 21 and the receiving part 23 are both arranged on the circuit board 28, so as to facilitate ensuring that the optical machine assembly 2 has a relatively compact structure and occupies a small space.

[0075] In summary, compared with the prior art, the optical distance measuring device 100 has at least the following beneficial effects: the optical distance measuring device 100 focuses the reflected first light beam 200 and the reflected second light beam 300 emitted by the emitting part 21 respectively through the first receiving lens 241 and the second receiving lens 242, and configures the optical axes of the first receiving lens 241 and the second receiving lens 242 as an acute angle, so that the focal lengths of the two are different, which facilitates ensuring that the two can focus the reflected first light beam 200 and the reflected second light beam 300 to the same receiving part 23 for receiving. On the one hand, the receiving lens 24 which has low material cost and can be mass-produced can assist in realizing multifunctional detection, greatly reducing the production cost, and facilitating the manufacture of a multifunctional detection self-moving device suitable for consumers.

[0076] On the other hand, the emitting part 21 which can emit at least the first light beam 200 and the second light beam 300, the single emitting lens 22 which can collimate the first light beam 200 and the second light beam 300, the receiving lens 24 which can focus the reflected detection beams respectively, and the single receiving part 23 which can receive the focused detection beams are all arranged on the same optical distance measuring device 100, so that a single optical distance measuring device 100 can have multiple detection functions, and the structure is more compact, which facilitates reducing the occupied space of the optical distance measuring device 100 in the self-moving device.

[0077] In order for those skilled in the art to better understand the technical scheme of the present application, the following will combine the accompanying Figures 1 to 7 The technical scheme of the embodiment of the present application is clearly and completely described. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

[0078] In some embodiments, the optical axis of the first light beam 200 (e.g., the blue line shown in Figure 3 Figure) passes through the optical center of the emission lens 22 to maximize the light energy utilization of the first light beam 200, which is conducive to improving the ranging accuracy and simplifying the optical design. Figure 3 In some embodiments, the optical axis of the second light beam 300 (e.g., the red line shown in

[0079] In some embodiments, the optical axis of the first light beam 200 emitted by the emission unit 21 is parallel to the optical axis of the emission lens 22 to obtain optimal beam quality and maximum light energy utilization of the first light beam 200, which is conducive to improving the ranging accuracy and reliability. Correspondingly, the optical axis of the second light beam 300 emitted by the emission unit 21 forms a preset angle with the optical axis of the emission lens 22. The preset angle is an acute angle.

[0080] In some embodiments, to realize that the detection light beam emitted by the emission unit 21 includes the first light beam 200, the emission unit 21 includes a first emission unit 211, where the first emission unit 211 is configured to emit the first light beam 200, and the first emission unit 211 is located at the focal point or focal plane of the emission lens 22 to realize beam collimation of the first light beam 200 through the emission lens 22, which is conducive to propagating the light energy of the first light beam 200 to a farther distance and enhancing the signal-to-noise ratio, thereby improving the ranging capability and ranging accuracy of the optical ranging device 100.

[0081] In some embodiments, to realize that the detection light beam emitted by the emission unit 21 includes the second light beam 300, the emission unit 21 includes a second emission unit 212, where the second emission unit 212 is configured to emit the second light beam 300, and the second emission unit 212 is located at the focal point or focal plane of the emission lens 22 to realize beam collimation of the second light beam 300 through the emission lens 22, which is conducive to propagating the light energy of the second light beam 300 to a farther distance and enhancing the signal-to-noise ratio, thereby improving the ranging capability and ranging accuracy of the optical ranging device 100.

[0082] For example, as shown in Figures 1 to 4 In this embodiment, the emission unit 21 includes a first emission unit 211 (e.g., which can be a mapping emitter) and a second emission unit 212 (e.g., which can be an obstacle avoidance emitter). To improve the ranging capability and accuracy and simplify the optical design and make the overall structure more compact, the first emission unit 211 can be located at the focal point of the emission lens 22 so that the first light beam 200 can be beam collimated into parallel light, and the second emission unit 212 can be located at the focal plane of the emission lens 22, and the optical axis of the first light beam 200 emitted by the first emission unit 211 (e.g., the blue line shown in Figure 3the optical axis of the first light beam 200 (e.g. the blue line shown in the figure) and the optical axis of the second light beam 300 (e.g. the red line shown in the figure) emitted by the second emitting unit 212 can all pass through the optical center of the emitting lens 22, i.e. the first light beam 200 and the second light beam 300 share one emitting lens 22 for collimation, so as to ensure the ranging accuracy of the two light beams and simplify the optical design, and improve the structural integration. Figure 3

[0083] Alternatively, in some embodiments, to implement the detection light beams emitted by the emitting unit, the emitting unit (not shown in the figure) includes a third emitting unit (not shown in the figure) and a light splitting unit (not shown in the figure), the third emitting unit can be used to emit a third light beam (not shown in the figure), and the light splitting unit can be used to split the third light beam into the first light beam and the second light beam.

[0084] In some embodiments, to enable the receiving unit 23 to effectively receive the first light beam 200 and the second light beam 300 reflected back from the external environment, the focal point of the first receiving lens 241 and the focal point of the second receiving lens 242 all fall on the receiving unit 23.

[0085] In the first specific implementation, the focal point of the first receiving lens 241 and the focal point of the second receiving lens 242 coincide, i.e. the first light beam 200 and the second light beam 300 reflected back from the external environment can be focused to the same position of the receiving unit 23 to be received, so that a receiver 23 with minimized area can be adopted, which is conducive to the miniaturization of the optical ranging device 100. Alternatively, in the second specific implementation, along the extension direction of the optical axis of the first receiving lens 241, the focal point of the first receiving lens 241 and the focal point of the second receiving lens 242 are both arranged opposite to the first receiving lens 241, i.e. the first light beam 200 and the second light beam 300 reflected back from the external environment can be focused to different positions of the receiving unit 23 to be received, but the focal point of the first receiving lens 241 and the focal point of the second receiving lens 242 are relatively close, so that a receiver 23 with smaller area can be adopted, which is conducive to the miniaturization of the optical ranging device 100.

[0086] In some embodiments, as shown in Figure 3 the optical axis of the first receiving lens 241 is parallel to the optical axis of the first light beam 200 emitted by the emitting unit 21, so as to further simplify the optical design, ensure that the optical mechanism assembly 2 is more compact in structure, and facilitate the improvement of the ranging accuracy. It should be noted that the parallelism described herein can be horizontal parallelism, or can be oblique upward or oblique downward parallelism, which is not particularly limited here, as long as the corresponding detection function requirements can be met.

[0087] In some embodiments, as shown in Figure 3 ​As shown, the optical axis of the second receiving lens 242 is parallel to the optical axis of the second light beam 300 emitted by the emitting part 21, so as to further simplify the optical design, ensure that the structure of the light machine assembly 2 is more compact, and facilitate the improvement of the ranging accuracy. It should be noted that the parallelism described herein can be horizontal parallelism, or can be obliquely upward or obliquely downward parallelism, which is not particularly limited here, as long as the corresponding detection function requirements can be met.

[0088] Exemplarily, as shown in FIG. 2B, the first receiving lens 241 and the second receiving lens 242 are integrally formed. Figure 3 As shown, in this embodiment, the optical axis of the first light beam 200 emitted by the emitting part 21 and the optical axis of the first receiving lens 241 are both parallel to the horizontal direction, that is, the direction of the emitted first light beam 200 when emitted from the emitting part 21 is the horizontal direction, which facilitates the realization of long-distance detection. Correspondingly, the optical axis of the second light beam 300 (for example, the obstacle avoidance light beam 300) emitted by the emitting part 21 extends obliquely downward relative to the horizontal direction, so as to facilitate the obstacle avoidance scanning of the front short-distance area of the optical ranging device 100 and the self-moving device; the optical axis of the second receiving lens 242 extends obliquely upward relative to the horizontal direction, so as to focus the reflected first light beam 200 to the same receiving part 23, and the optical axis of the second light beam 300 emitted by the emitting part 21 and the optical axis of the second receiving lens 242 can be obliquely parallel to each other.

[0089] In some embodiments, the first receiving lens 241 and the second receiving lens 242 are integrally formed or separately arranged. Exemplarily, in order to simplify the optical design, as shown in FIG. 2B, the first receiving lens 241 and the second receiving lens 242 are integrally formed. Figure 1 and Figure 2 As shown, the first receiving lens 241 and the second receiving lens 242 are integrally formed. Of course, in practice, the two can also be arranged at intervals or connected but independent of each other, so as to realize separate arrangement.

[0090] In order to simplify the optical design and improve the ranging accuracy, the relative arrangement mode of the first receiving lens 241 and the second receiving lens 242 can at least have the following specific embodiments:

[0091] In some specific embodiments, the exit surface of the first receiving lens 241 is flush with the exit surface of the second receiving lens 242 (see FIG. 2B). Figures 1 to 3 Alternatively, the entrance surface of the first receiving lens 241 is flush with the entrance surface of the second receiving lens 242.

[0092] In some specific embodiments, as shown in FIG. 2B, the first receiving lens 241 and the second receiving lens 242 are integrally formed. Figure 3As shown, the width of the first receiving lens 241 is greater than the width of the second receiving lens 242 along the direction of the line connecting the optical center of the first receiving lens 241 and the optical center of the second receiving lens 242. Exemplarily, when the first light beam 200 is a mapping light beam 200 and the second light beam 300 is an obstacle avoidance light beam 300, the divergence width of the reflected mapping light beam 200 is generally greater than that of the reflected obstacle avoidance light beam 300. Therefore, by configuring the width of the first receiving lens 241 to be greater than the width of the second receiving lens 242, the maximum light energy receiving rate of the corresponding detection light beam can be improved, and the size of the receiving lens 24 can be ensured to be as small as possible.

[0093] In some embodiments, as shown in Figure 1 To expand the field of view of the detection light beam and improve the ranging capability, the optical ranging device 100 further comprises a rotating mirror assembly 3 rotatably arranged on the seat body 1 about the rotation axis 400. Exemplarily, the rotating mirror assembly 3 is located on the emission side of the emission lens 22.

[0094] As shown in Figure 1 and Figure 3 The first light beam 200 emitted by the emission unit 21 is emitted to the emission lens 22, collimated by the emission lens 22, and then reflected by the rotating mirror assembly 3 to the outside environment. The first light beam 200 reflected by the outside environment is reflected by the rotating mirror assembly 3 to the first receiving lens 241 and focused by the first receiving lens 241 to the receiving unit 23. Similarly, the second light beam 300 emitted by the emission unit 21 is emitted to the emission lens 22, collimated by the emission lens 22, and then reflected by the rotating mirror assembly 3 to the outside environment. The second light beam 300 reflected by the outside environment is reflected by the rotating mirror assembly 3 to the second receiving lens 242 and focused by the second receiving lens 242 to the receiving unit 23.

[0095] In some embodiments, the optical axis of the first light beam 200 collimated by the emission lens 22 is perpendicular to the rotation axis 400 (see Figure 1 and Figure 3 Therefore, the first light beam 200 reflected by the rotating mirror assembly 3 is also perpendicular to the rotation axis 400, so that the first light beam 200 can be stably emitted to the outside environment in a direction perpendicular to the rotation axis 400 (e.g., always in a direction parallel to the horizontal plane), which facilitates the long-distance detection of the first light beam 200 (which can be a mapping light beam 200).

[0096] In some embodiments, the optical axis of the first receiving lens 241 is perpendicular to the rotation axis 400 (see Figure 1 and Figure 3 Therefore, the first light beam 200 reflected by the rotating mirror assembly 3 to the first receiving lens 241 can be focused by the first receiving lens 241 to the first light beam 200 in a direction perpendicular to the rotation axis 400 to be emitted to the receiving unit 23, which facilitates the improvement of the ranging accuracy and the ranging capability.

[0097] It should be noted that the optical axis of the first beam 200, after being collimated by the transmitting lens 22, may intersect with the rotation axis 400 of the rotating mirror assembly 3 on the same plane, or they may be located on different planes and not intersect. Similarly, the optical axis of the first receiving lens 241 and the rotation axis 400 of the rotating mirror assembly 3 may intersect on the same plane, or they may be located on different planes and not intersect.

[0098] In some embodiments, such as Figure 3 As shown, the emitting unit 21 includes a first emitting unit 211 and a second emitting unit 212. The first emitting unit 211 is used to emit a first beam 200 (e.g., Figure 3 (as shown by the blue lines), the second emitting unit 212 is used to emit the second beam 300 (e.g., the blue lines shown in the diagram), Figure 3 (The red lines shown).

[0099] like Figure 4 As shown, the second transmitting unit 212 and the first transmitting unit 211 of the transmitting part 21 are arranged sequentially along the first axial side 410 (e.g., the top side of the base 1) of the rotation axis 400 and the second axial side 420 (e.g., the bottom side of the base 1). The projections of the second transmitting unit 212 and the first transmitting unit 211 are completely offset, partially coincident, or completely coincident.

[0100] In some embodiments, such as Figure 4 As shown, a first receiving lens 241 and a second receiving lens 242 are sequentially arranged along the axial direction from the first side 410 (e.g., the top side of the base 1) of the rotation axis 400 to the second side 420 (e.g., the bottom side of the base 1). The projections of the first receiving lens 241 and the second receiving lens 242 are completely offset, partially overlap, or completely overlap.

[0101] For example, specifically in this embodiment, such as Figure 3 and Figure 4 As shown, when the base 1 is arranged along the axial direction of the rotation axis 400, the first axial side 410 of the rotation axis 400 is the top side (corresponding to the upper side) of the base 1, and the second axial side 420 is the bottom side (corresponding to the lower side) of the base 1. The second transmitting unit 212 and the first transmitting unit 211 are arranged vertically in sequence, with the first transmitting unit 211 located directly below the second transmitting unit 212. Correspondingly, the first receiving lens 241 and the second receiving lens 242 are arranged vertically in sequence, with the second receiving lens 242 located directly below the first receiving lens 241. In this way, while ensuring that the first beam 200 can be used for long-distance detection and the second beam 300 can be used for short-distance detection, thereby realizing the multi-functional detection characteristics of the optical ranging device 100, the compact arrangement of each component in the optomechanical assembly 2 can be ensured to the maximum extent.

[0102] To enable the second light beam 300 to be used for close-range detection, in some embodiments, along a direction close to the rotation axis 400, the optical axis of the second light beam 300 collimated by the emission lens 22 is obliquely arranged relative to the rotation axis 400 and the oblique direction is gradually close to the axial second side 420 of the rotation axis 400 (see Figure 3 and Figure 4 ).

[0103] In some embodiments, along a direction away from the rotation axis 400, the optical axis of the second receiving lens 242 is obliquely arranged relative to the rotation axis 400 and the oblique direction is gradually close to the axial first side 410 of the rotation axis 400 (see Figure 3 and Figure 4 ).

[0104] Exemplarily, when the second light beam 300 is an obstacle avoidance light beam 300 and the seat body 1 is arranged axially along the rotation axis 400, the axial first side 410 of the rotation axis 400 is the top side (corresponding to the upper side) of the seat body 1 and the axial second side 420 is the bottom side (corresponding to the lower side) of the seat body 1, as shown in Figure 3 , the emission direction of the second light beam 300 collimated by the emission lens 22 is obliquely downward, so that the close-range obstacle in front can be easily identified during the forward movement of the mobile device. Correspondingly, the reflection direction of the second light beam 300 reflected by the turning mirror assembly 3 to the second receiving lens 242 is obliquely upward, so that the second receiving lens 242 can focus the second light beam 300 reflected back from the close-range obstacle in front, thereby facilitating the detection of the close-range obstacle by the second light beam 300.

[0105] In some embodiments, as shown in Figure 1 and Figure 2 , to reduce the mutual interference of the light beams and facilitate the improvement of detection accuracy, the optical-mechanical assembly 2 is provided with a first light cavity 25 and a second light cavity 26, and a third light cavity 11 is formed in the seat body 1. Among them, the first light cavity 25 accommodates the emission part 21 and the emission lens 22, and the emission lens 22 is capped at the light outlet of the first light cavity 25. Correspondingly, the second light cavity 26 accommodates the receiving part 23 and the receiving lens 24, and the receiving lens 24 is capped at the light inlet of the second light cavity 26. It should be noted that the first light cavity 25 and the second light cavity 26 usually need to be optically isolated.

[0106] As shown in Figure 1 , the third light cavity 11 accommodates the turning mirror assembly 3. The turning mirror assembly 3 includes a first mirror body 31, a second mirror body 32 and a first light separation piece 34, wherein the first light separation piece 34 separates the third light cavity 11 into an emission light cavity 111 and a receiving light cavity 112 (see Figure 1 and Figure 4 ).The emitting light cavity 111 is communicated with the first light cavity 25, and the receiving light cavity 112 is communicated with the second light cavity 26.

[0107] It can be understood that the first mirror body 31 is located in the emitting light cavity 111, and the reflecting surface of the first mirror body 31 can be used to reflect the detection light beam emitted from the first light cavity 25 to the external environment. Correspondingly, the second mirror body 32 is located in the receiving light cavity 112, and the reflecting surface of the second mirror body 32 can be used to reflect the detection light beam reflected by the external environment to the receiving lens 24 in the second light cavity 26.

[0108] Exemplarily, as shown in Figure 1 , the rotating mirror assembly 3 further comprises a bracket 33 and a rotating shaft 36, wherein the first mirror body 31 and the second mirror body 32 are arranged on the bracket 33 in an up-down manner along the rotating axis 400 of the rotating shaft 36, and the first light shielding part 34 is located between the first mirror body 31 and the second mirror body 32 in the axial direction of the rotating axis 400 to assist in separating the third light cavity 11 into the emitting light cavity 111 and the receiving light cavity 112. The rotating shaft 36 is arranged at the bottom end of the bracket 33 to rotate with the bracket 33.

[0109] Exemplarily, as shown in Figure 1 , Figure 5 and Figure 6 , in order to make the overall structure more compact and ensure the stability and reliability of the structure, the seat body 1 comprises an inner shell 15 and an outer shell 16, and the optical machine assembly 2 and the rotating mirror assembly 3 are arranged on the inner shell 15. The inner shell 15 provided with the optical machine assembly 2 and the rotating mirror assembly 3 is arranged on the outer shell 16 and is protected by the outer shell 16. In addition, the optical machine assembly 2 further comprises a mounting seat 27 (see Figure 6 ), wherein the circuit board 28, the emitting part 21 (including the first emitting unit 211 and the second emitting unit 212), the emitting lens 22, the receiving lens 24 (including the first receiving lens 241 and the second receiving lens 242) and the receiving part 23 of the optical machine assembly 2 are all built-in in the mounting seat 27, and the first light cavity 25 and the second light cavity 26 are formed in the mounting seat 27.

[0110] In some embodiments, in order to realize that the detection light beam reflected by the rotating mirror assembly 3 can be emitted to the external environment, as shown in Figure 4 and Figure 7 , the seat body 1 is provided with a light guide port 12, wherein the light guide port 12 communicates the third light cavity 11 with the external environment.

[0111] As shown in Figure 5As shown, the seat body 1 is provided with a second light partition 13 at the light guide port 12, the second light partition 13 separates the light guide port 12 into a light exit port 121 and a light receiving port 122, and the second light partition 13 is arranged opposite to the first light partition 34 along the radial direction of the rotation axis 400, so that the emission light cavity 111 corresponds to the light exit port 121, and the receiving light cavity 112 corresponds to the light receiving port 122. Among them, the light exit port 121 can be used for the detection light beam to be emitted from the emission light cavity 111 to the external environment, and the light receiving port 122 can be used for the detection light beam to be emitted from the external environment to the receiving light cavity 112.

[0112] As shown in Figure 4 , Figure 5 and Figure 7 , in order to avoid the second light beam 300 emitted from the emission light cavity 111 to the external environment, and facilitate the second light beam 300 in the emission light cavity 111 to be emitted as much as possible, the side of the second light partition 13 facing the light exit port 121 is provided with a first inclined surface 131 and a second inclined surface 132, wherein the first inclined surface 131 gradually approaches the axial second side 420 of the rotation axis 400 in a direction away from the emission lens 22, and the second inclined surface 132 gradually approaches the axial second side 420 of the rotation axis 400 in a direction close to the emission lens 22.

[0113] In some embodiments, as shown in Figure 4 , Figure 5 and Figure 7 , in order to avoid the second light beam 300 reflected back from the external environment, and facilitate as much as possible the second light beam 300 reflected back from the external environment to be emitted to the receiving light cavity 112, the seat body 1 is further provided with a third light partition 14 at the light guide port 12, the third light partition 14 is located on the side of the light receiving port 122 away from the second light partition 13, and the side of the second light partition 13 facing the light receiving port 122 is provided with a third inclined surface 141 and a fourth inclined surface 142, wherein the third inclined surface 141 gradually approaches the axial second side 420 of the rotation axis 400 in a direction away from the receiving lens 24, and the fourth inclined surface 142 gradually approaches the axial second side 420 of the rotation axis 400 in a direction close to the receiving lens 24.

[0114] In some embodiments, as shown in Figures 4 to 6 , the rotating mirror assembly 3 further includes a driving seat 35, which is arranged on the side of the second mirror body 32 away from the second light partition 13. In addition, the optical distance measuring device 100 further includes a driving assembly 4, wherein the driving assembly 4 is arranged on the seat body 1, and the driving assembly 4 is connected with the driving seat 35 to drive the rotating mirror assembly 3 to rotate around the rotation axis 400. Exemplarily, as shown in Figure 1 and Figures 4 to 6As shown, the driving seat 35 is arranged at the bottom end of the support 33, and the rotating shaft 36 is installed. Through the driving of the driving assembly 4, the support 33, the driving seat 35, the first mirror body 31 and the second mirror body 32 can rotate around the rotating axis 400 together with the rotating shaft 36, or can rotate relative to the rotating shaft 36, so as to realize the rotation of the first mirror body 31 and the second mirror body 32, and then facilitate to expand the field of view of the emitted detection light beam, so as to improve the detection capability.

[0115] It should be noted that the driving assembly 4 can be a brushless motor to ensure that the optical distance measuring device 100 is used efficiently, low noise and long service life. Of course, the driving assembly 4 can also be other suitable types of motors, wherein the structure of the driving assembly 4 can be an existing or newly created structure, which is not particularly limited here.

[0116] In order to avoid the second light beam 300 reflected back by the external environment, it is beneficial for the second light beam 300 reflected back in the external environment to be as much as possible to be shot to the receiving light cavity 112, such as ​ As shown, the fifth inclined surface 351 is arranged on the side of the driving seat 35 facing the second mirror body 32, and the fifth inclined surface 351 gradually approaches the axial second side 420 of the rotating axis 400 in the direction away from the rotating axis 400.

[0117] Based on the above-mentioned optical distance measuring device 100, the utility model embodiment further provides a self-moving device, wherein the self-moving device comprises a body and the above-mentioned optical distance measuring device 100, wherein the optical distance measuring device 100 is arranged on the body. Taking the self-moving device as a sweeping machine as an example, the optical distance measuring device 100 can be arranged on at least one position of the top, the side wall and the bottom of the sweeping machine body, as long as the corresponding detection requirement can be realized, and the installation position of the optical distance measuring device 100 is not particularly limited here.

[0118] It should be noted that the self-moving device can realize long-distance detection and short-distance detection at the same time, and can also realize long-distance detection or short-distance detection alone, which can be determined according to actual needs, that is, the user can select different detection modes according to different needs.

[0119] In summary, compared with the prior art, the self-moving device has at least the following beneficial effects: the self-moving device adopts the above-mentioned optical distance measuring device 100, can realize different functional detection requirements, has low production cost, is beneficial to manufacture a consumer-level multifunctional detection self-moving device, and occupies small space, which is beneficial to realize miniaturization design.

[0120] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. An optical distance measuring device, characterized in that The optical distance measuring device comprises a seat body and a light machine assembly arranged on the seat body, wherein the light machine assembly comprises: a transmitting part for transmitting a detection light beam; the detection light beam comprises a first light beam and a second light beam; the optical axis of the second light beam is arranged at an acute angle with the optical axis of the first light beam; a transmitting lens located on the light emitting side of the transmitting part; a receiving part; a receiving lens located on the light receiving side of the receiving part; the receiving lens comprises a first receiving lens and a second receiving lens, and the optical axis of the first receiving lens is arranged at an acute angle with the optical axis of the second receiving lens; the first light beam transmitted by the transmitting part is shot to the transmitting lens and is collimated by the transmitting lens and then is shot to the external environment; the first light beam reflected back by the external environment is focused to the receiving part by the first receiving lens; the second light beam transmitted by the transmitting part is shot to the transmitting lens and is collimated by the transmitting lens and then is shot to the external environment; the second light beam reflected back by the external environment is focused to the receiving part by the second receiving lens.

2. The optical distance measuring device according to claim 1, characterized in that the optical axis of the first light beam passes through the optical center of the transmitting lens; and / or, the optical axis of the second light beam passes through the optical center of the transmitting lens; and / or, the optical axis of the first light beam is parallel to the optical axis of the transmitting lens, and the optical axis of the second light beam forms a preset included angle with the optical axis of the transmitting lens; the transmitting part comprises a first transmitting unit for transmitting the first light beam, and the first transmitting unit is located on the focal point or focal plane of the transmitting lens; and / or, the transmitting part comprises a second transmitting unit for transmitting the second light beam, and the second transmitting unit is located on the focal point or focal plane of the transmitting lens; and / or, the transmitting part comprises a third transmitting unit for transmitting a third light beam and a light splitting unit for splitting the third light beam into the first light beam and the second light beam; the focal point of the first receiving lens and the focal point of the second receiving lens are both on the receiving part; the focal point of the first receiving lens and the focal point of the second receiving lens are coincident, or along the extension direction of the optical axis of the first receiving lens, the focal point of the first receiving lens and the focal point of the second receiving lens are both arranged opposite to the first receiving lens; the optical axis of the first receiving lens is parallel to the optical axis of the first light beam emitted by the transmitting part; and / or, the optical axis of the second receiving lens is parallel to the optical axis of the second light beam emitted by the transmitting part.

3. The optical distance measuring device according to claim 1, characterized in that the first receiving lens and the second receiving lens are integrally formed or separately arranged; and / or, the exit surface of the first receiving lens is flush with the exit surface of the second receiving lens, or the entrance surface of the first receiving lens is flush with the entrance surface of the second receiving lens; and / or, along the direction of the connecting line between the optical center of the first receiving lens and the optical center of the second receiving lens, the width of the first receiving lens is greater than the width between the second receiving lenses.

4. The optical distance measuring device according to any one of claims 1 to 3, characterized in that The optical distance measuring device further comprises a rotating mirror assembly rotatably arranged on the seat body about a rotating axis; The first light beam emitted by the emitting part is incident on the emitting lens, collimated by the emitting lens, and reflected by the rotating mirror assembly to the outside environment, and the first light beam reflected by the outside environment is reflected by the rotating mirror assembly to the first receiving lens and focused by the first receiving lens to the receiving part; The second light beam emitted by the emitting part is incident on the emitting lens, collimated by the emitting lens, and reflected by the rotating mirror assembly to the outside environment, and the second light beam reflected by the outside environment is reflected by the rotating mirror assembly to the second receiving lens and focused by the second receiving lens to the receiving part.

5. The optical distance measuring device according to claim 4, characterized in that The optical axis of the first light beam collimated by the emitting lens is perpendicular to the rotating axis; and / or the optical axis of the first receiving lens is perpendicular to the rotating axis; The emitting part comprises a first emitting unit and a second emitting unit, the first emitting unit is used for emitting the first light beam, and the second emitting unit is used for emitting the second light beam; along the direction from the axial first side to the axial second side of the rotating axis, the second emitting unit and the first emitting unit are arranged in sequence, the projection of the second emitting unit and the projection of the first emitting unit are completely staggered, partially overlapped or completely overlapped, and / or along the direction from the axial first side to the axial second side of the rotating axis, the first receiving lens and the second receiving lens are arranged in sequence, the projection of the first receiving lens and the projection of the second receiving lens are completely staggered, partially overlapped or completely overlapped; Along the direction close to the rotating axis, the optical axis of the second light beam collimated by the emitting lens is arranged obliquely relative to the rotating axis and the oblique direction is gradually close to the axial second side of the rotating axis; and / or along the direction away from the rotating axis, the optical axis of the second receiving lens is arranged obliquely relative to the rotating axis and the oblique direction is gradually close to the axial first side of the rotating axis.

6. The optical distance measuring device according to claim 5, characterized in that The optical-mechanical assembly is provided with a first optical cavity and a second optical cavity, and a third optical cavity is formed in the seat body: The first optical cavity accommodates the emitting part and the emitting lens, and the emitting lens covers the light outlet of the first optical cavity; The second optical cavity accommodates the receiving part and the receiving lens, and the receiving lens covers the light inlet of the second optical cavity; The third optical cavity accommodates the rotating mirror assembly; the rotating mirror assembly comprises a first mirror body, a second mirror body and a first light shielding part, the first light shielding part divides the third optical cavity into an emitting optical cavity and a receiving optical cavity, the emitting optical cavity communicates with the first optical cavity, and the receiving optical cavity communicates with the second optical cavity; the first mirror body is located in the emitting optical cavity, and the reflecting surface of the first mirror body is used for reflecting the detection light beam emitted from the first optical cavity to the outside environment; the second mirror body is located in the receiving optical cavity, and the reflecting surface of the second mirror body is used for reflecting the detection light beam reflected by the outside environment to the receiving lens in the second optical cavity.

7. The optical distance measuring device according to claim 6, characterized in that The seat body is provided with a light guide port, which is communicated with the third light cavity and the external environment. The seat body is provided with a second light separation member at the light guide port, which separates the light guide port into a light exit port and a light receiving port, and the second light separation member is arranged opposite to the first light separation member along the radial direction of the rotation axis, the light exit port is used for the detection light beam to be emitted from the emission light cavity to the external environment, and the light receiving port is used for the detection light beam to be emitted from the external environment to the receiving light cavity. One side of the second light separation member facing the light exit port is provided with a first inclined surface and a second inclined surface, the first inclined surface gradually approaches the axial second side of the rotation axis in a direction away from the emission lens, and the second inclined surface gradually approaches the axial second side of the rotation axis in a direction close to the emission lens.

8. The optical distance measuring device according to claim 7, characterized in that The seat body is further provided with a third light separation member at the light guide port, which is located on a side of the light receiving port away from the second light separation member, one side of the second light separation member facing the light receiving port is provided with a third inclined surface and a fourth inclined surface, the third inclined surface gradually approaches the axial second side of the rotation axis in a direction away from the receiving lens, and the fourth inclined surface gradually approaches the axial second side of the rotation axis in a direction close to the receiving lens.

9. The optical distance measuring device according to claim 7, characterized in that The rotating mirror assembly further includes a driving seat, which is arranged on a side of the second mirror body away from the second light separation member. The optical distance measuring device further includes a driving assembly, which is arranged on the seat body and connected with the driving seat to drive the rotating mirror assembly to rotate around the rotation axis. One side of the driving seat facing the second mirror body is provided with a fifth inclined surface, which gradually approaches the axial second side of the rotation axis in a direction away from the rotation axis.

10. A self-moving device, characterized in that, The self-moving device includes a body and the optical distance measuring device according to any one of claims 1 to 9, and the optical distance measuring device is arranged on the body.

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