Optical distance measuring device and mobile robot

Abstract

The utility model discloses an optical distance measuring device and a mobile robot. The optical distance measuring device comprises a base, an optical machine assembly, a rotating mirror assembly, a driving assembly and a detection assembly. A light beam emitted by the light machine assembly is reflected to an external object by the rotating mirror assembly, the light beam reflected by the external object is reflected by the rotating mirror assembly to be received by the light machine assembly, and the rotating mirror assembly rotates around a rotating axis. The first magnetic induction piece is connected with the base, the first magnetic induction piece is provided with a first induction area, and the first magnetic piece is configured to pass through the first induction area in the process of rotating relative to the base along with the rotating mirror assembly and is inducted by the first magnetic induction piece. In the scheme, as the first magnetic part and the first magnetic induction part can perform induction across the air, the relative position of the rotating mirror assembly and the first magnetic induction part does not need to be considered in the assembly process of the rotating mirror assembly, and the assembly of the rotating mirror assembly is more convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of optical ranging, in particular to an optical ranging device and mobile robot. BACKGROUND

[0002] The optical ranging device comprises a light machine assembly and a rotating mirror assembly. The rotating mirror assembly rotates around the rotation axis, so that the light beam emitted by the light machine assembly can be reflected by the rotating mirror assembly in different directions, thereby improving the scanning range of the optical ranging device.

[0003] In order to obtain the angle of the light beam reflected by the rotating mirror assembly, the initial position of the rotating mirror assembly and the rotation angle of the rotating mirror assembly relative to the initial position need to be obtained. The photoelectric sensor comprises an emitting part and a receiving part, and the emitting part and the receiving part are located on the two sides of the grating respectively. SUMMARY

[0004] The utility model discloses a kind of optical ranging device and mobile robot, can facilitate rotating mirror assembly assembly.

[0005] To achieve the above object, the utility model provides optical ranging device, comprising:

[0006] Base;

[0007] Light machine assembly is connected to base, and light machine assembly is used to emit light beam and receive light beam;

[0008] Rotating mirror assembly is rotatably connected to base, and rotating mirror assembly is used to reflect the light beam emitted by light machine assembly, and the light beam reflected by external object is reflected to be received by light machine assembly;

[0009] A driving assembly is connected to the base and the rotating mirror assembly respectively, and is configured to drive the rotating mirror assembly to rotate relative to the base about the rotation axis;

[0010] A detecting assembly includes a first magnetic element and a first magnetic sensing element, the first magnetic element is connected to the rotating mirror assembly, and the first magnetic sensing element is connected to the base;

[0011] The first magnetic sensing element has a first sensing region, and the first magnetic element is configured to pass through the first sensing region and be sensed by the first magnetic sensing element during the rotation of the rotating mirror assembly relative to the base.

[0012] In some embodiments, the first magnetic element is located on one side of the driving assembly along the axial direction of the rotation axis;

[0013] And / or,

[0014] The first magnetic element is located at a radial edge of the rotating mirror assembly;

[0015] And / or,

[0016] The first magnetic sensing element is located on one side of the rotating mirror assembly along the radial direction of the rotation axis and is spaced apart from the rotating mirror assembly; or, the first magnetic sensing element is located on one side of the rotating mirror assembly along the axial direction of the rotation axis and is spaced apart from the rotating mirror assembly;

[0017] And / or,

[0018] The first sensing region is located at a radial edge of the rotating mirror assembly; or, the first sensing region is located on one side of the rotating mirror assembly along the axial direction of the rotation axis ；

[0019] And / or,

[0020] The first sensing region and the first magnetic sensing element are distributed in opposite directions along the axial direction of the rotation axis, and the magnetic poles of the first magnetic element are distributed along the axial direction of the rotation axis; or, the first sensing region and the first magnetic sensing element are distributed in opposite directions along the radial direction of the rotation axis, and the magnetic poles of the first magnetic element are distributed along the radial direction of the rotation axis.

[0021] In some embodiments, the rotating mirror assembly includes a support portion and a reflecting portion, the support portion has a first side and a second side arranged opposite to each other along a direction perpendicular to the rotation axis, the reflecting portion is connected to the support portion and located at the first side, and a reflecting surface of the reflecting portion faces away from the support portion;

[0022] The first magnetic member is connected to the support portion and located at the second side; and / or, the first magnetic member is located at a radial edge of the support portion along the rotation axis; and / or, the support portion comprises a driving seat connected to the driving assembly and a supporting seat, one end of the supporting seat along the rotation axis is connected to the driving seat and forms a first side and a second side, the first magnetic member is connected to one end of the supporting seat close to the driving seat and the part of the driving seat facing the supporting seat.

[0023] In some embodiments, the driving assembly comprises a rotor connected to the rotating mirror assembly and a stator connected to the base, the rotor is formed as the second magnetic member;

[0024] The optical distance measuring device further comprises a second magnetic induction member connected to the base, the second magnetic induction member has a second induction area, the rotor is configured to pass through the second induction area and be induced by the second magnetic induction member during rotation relative to the stator.

[0025] In some embodiments, the second magnetic induction member is arranged at one side of the driving assembly along the axial direction of the rotation axis and close to the outer periphery of the driving assembly;

[0026] And / or,

[0027] The base comprises a first housing defining a first space, the rotating mirror assembly is arranged in the first space, an end of the first housing connected to the driving assembly is provided with a avoiding slot, the avoiding slot is a sink slot with an opening facing the driving assembly or a through slot penetrating through the first housing, the second magnetic induction member is arranged in the avoiding slot and connected to the first housing;

[0028] And / or,

[0029] The optical distance measuring device further comprises a driving wiring portion and a wire, the driving wiring portion is fixedly arranged on the base, the second magnetic induction member is fixedly arranged on the driving wiring portion and electrically connected to the coil terminal of the second magnetic induction member and the stator respectively; the wire is used to supply power to the stator through the driving wiring portion, and / or, the wire is used to output the induction data of the second magnetic induction member outward;

[0030] And / or,

[0031] The first magnetic member is located outside the second induction area at each position in the path of the rotating mirror assembly during rotation;

[0032] And / or,

[0033] The rotor is located outside the first induction area at each position in the path of rotation relative to the stator;

[0034] And / or,

[0035] The magnetic pole direction of the first magnetic member is arranged transversely to the axial direction of the rotor.

[0036] In some embodiments, the first magnetic induction element generates a first induction signal after inducing the first magnetic element, and the first induction signal is used to indicate the time when the rotating mirror assembly rotates to the preset position.

[0037] and / or,

[0038] The driving assembly includes a rotor connected to the rotating mirror assembly and a stator connected to the base, and the rotor is formed as the second magnetic element. The optical distance measuring device further includes a second magnetic induction element connected to the base, the second magnetic induction element having a second induction area, and the rotor is configured to pass through the second induction area and be induced by the second magnetic induction element during rotation relative to the stator. The second magnetic element generates a second induction signal after inducing the second magnetic element, and the second induction signal is used to indicate the rotation speed or rotation angle of the rotating mirror assembly relative to the base.

[0039] In some embodiments, the base includes a first housing defining a first space, and the rotating mirror assembly is arranged in the first space. The first magnetic induction element is located outside the first housing, the first induction area is located in the first space, and the first housing is at least partially located in the facing space between the first magnetic induction element and the first induction area.

[0040] or,

[0041] The base includes a first housing defining a first space, and the rotating mirror assembly is arranged in the first space. The first housing is provided with a first opening communicating with the first space, the first magnetic induction element is located outside the first housing, the first induction area is located in the first space, and the first opening is located in the facing space between the first magnetic induction element and the first induction area.

[0042] In some embodiments, the base includes a first housing defining a first space, and the rotating mirror assembly is arranged in the first space. The optical machine assembly is located outside the first housing, and the first housing is provided with a second opening and a third opening communicating with the first space. The light beam emitted by the optical machine assembly is reflected by the rotating mirror assembly through the second opening, and the light beam reflected by the external object is reflected by the rotating mirror assembly through the third opening and received by the optical machine assembly.

[0043] and / or,

[0044] The base includes a first housing defining a first space, and the rotating mirror assembly is arranged in the first space. The first housing is further provided with a fourth opening, and the light beam emitted by the optical machine assembly is reflected by the rotating mirror assembly and led out of the fourth opening. The light beam reflected by the external object is led into the first space through the fourth opening and reflected by the rotating mirror assembly and then received by the optical machine assembly.

[0045] In some embodiments, the base comprises a second housing, the second housing defines a second space, and the optical machine assembly is arranged in the second housing; the second housing is provided with a fifth opening communicating with the second space, and the optical distance measuring device further comprises a circuit board connected to the second housing and covering the fifth opening, and the first magnetic induction piece is electrically connected to one side of the circuit board facing the second space;

[0046] and / or,

[0047] The base comprises a second housing, the second housing defines a second space, and the optical machine assembly is arranged in the second housing; the second housing is provided with a sixth opening and a seventh opening, the light beam emitted by the optical machine assembly is reflected by the mirror assembly through the sixth opening, and the light beam reflected by the external object is reflected by the mirror assembly through the sixth opening and received by the optical machine assembly;

[0048] and / or,

[0049] The base comprises a first housing and a second housing, the first housing defines a first space, the mirror assembly is arranged in the first space, the second housing defines a second space, and the optical machine assembly is arranged in the second housing; the first housing and the second housing are integrally formed.

[0050] Embodiments of the second aspect of the application also provide a mobile robot, comprising:

[0051] The optical distance measuring device of any one of the above; and

[0052] The robot body, and the optical distance measuring device is connected to the robot body.

[0053] Compared with the prior art, the beneficial effects of the utility model are:

[0054] In the technical scheme of the utility model, the optical distance measuring device comprises a base, an optical machine assembly, a mirror assembly, a driving assembly and a detection assembly. The light beam emitted by the optical machine assembly is reflected by the mirror assembly to the external object, and the light beam reflected by the external object is reflected by the mirror assembly to be received by the optical machine assembly. Wherein, the mirror assembly rotates around the rotation axis, thereby increasing the scanning range of the optical machine assembly. In particular, in the present scheme, the detection assembly comprises a first magnetic piece and a first magnetic induction piece, the first magnetic piece is connected to the mirror assembly, the first magnetic induction piece is connected to the base, the first magnetic induction piece has a first induction area, and the first magnetic piece is configured to pass through the first induction area during rotation relative to the base and is inducted by the first magnetic induction piece. In this scheme, since the first magnetic piece and the first magnetic induction piece can induct in the air, the position arrangement of the first magnetic piece and the first magnetic induction piece is more flexible, the first magnetic induction piece is not easy to interfere with the position of the mirror assembly, so that the relative position of the first magnetic induction piece does not need to be considered during the assembly of the mirror assembly, and the assembly of the mirror assembly is more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to the structures shown in the drawings without creative labor for those skilled in the art.

[0056] Figure 1 It is a perspective view of the optical distance measuring device in an embodiment of the present application.

[0057] Figure 2 It is a sectional view of the optical distance measuring device in an embodiment of the present application.

[0058] Figure 3 It is an exploded view of the first perspective of the optical distance measuring device in an embodiment of the present application. In the first housing, an additional light shielding plate is added to show the relative position relationship between the light shielding plate and the first housing.

[0059] Figure 4 It is an exploded view of the second perspective of the optical distance measuring device in an embodiment of the present application.

[0060] Figure 5 It is a sectional view of the optical distance measuring device in another embodiment of the present application. Figure 4

[0061] Figure 6 It is a perspective view of the remaining components of the optical distance measuring device in an embodiment of the present application after removing the base.

[0062] Figure 7 It is a perspective view of the remaining components of the optical distance measuring device in an embodiment of the present application after removing the base.

[0063] Figure 8 It is a sectional view of the optical distance measuring device in another embodiment of the present application.

[0064] Explanation of the drawing numbers:

[0065] Optical distance measuring device 10;

[0066] Base 100; first housing 110; first opening 111; second opening 112; third opening 113; fourth opening 114; avoiding groove 115; first space 116; second housing 120; fifth opening 121; sixth opening 122; seventh opening 123; second space 124;

[0067] Optical machine assembly 200;

[0068] ​The rotating mirror assembly 300; the support part 310; the driving seat 311; the support seat 312; the light isolation plate 313; the first side 314; the second side 315; the reflecting part 320; the reflecting surface 321; the rotating axis 330;

[0069] The driving assembly 400; the stator 410; the rotor 420; the second magnetic part 421; the driving wiring part 430; the wire 440;

[0070] The detection assembly 500; the first magnetic part 510; the first magnetic induction part 520; the second magnetic induction part 530; the circuit board 540.

[0071] The implementation, functional features and advantages of the utility model will be further described with reference to the drawings. DETAILED DESCRIPTION

[0072] The technical solutions in the embodiments of the utility model will be clearly and completely described with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0073] In order to obtain the angle of the light beam reflected by the rotating mirror assembly, the initial position of the rotating mirror assembly and the rotating angle of the rotating mirror assembly relative to the initial position and other parameters need to be obtained. In the related art, a grating is arranged on the rotating mirror assembly, and a photoelectric sensor arranged outside the rotating mirror assembly cooperates with the grating to obtain the rotating angle and the initial position of the rotating mirror assembly and other parameters. The photoelectric sensor includes an emitting part and a receiving part, and the emitting part and the receiving part are respectively located on the two sides of the grating. The emitting part emits a light beam which is received by the receiving part. The rotating parameters of the rotating mirror assembly are analyzed by obtaining the shielding state of the grating to the light beam emitted by the emitting part. Since the photoelectric sensor and the grating are respectively connected to different components, the positions of the two need to be adjusted correspondingly when they are assembled. For example, when the rotating mirror assembly is assembled, the grating connected to the rotating mirror assembly needs to be correspondingly inserted into the gap between the emitting part and the receiving part, so that the assembly of the rotating mirror assembly is more troublesome.

[0074] In the related art, in order to make the grating correspond to the position of the photosensor and to make the photosensor not interfere with the rotating state of the rotating mirror assembly. In one scheme, the grating extends along the axial direction of the rotating mirror assembly and is arranged on one side of the axial direction of the rotating mirror assembly, and the emitting part and the receiving part of the photosensor are distributed on both sides of the grating along the radial direction of the rotating mirror assembly. In another scheme, the grating extends along the radial direction of the rotating mirror assembly and is arranged around the outer periphery of the radial direction of the rotating mirror assembly, and the emitting part and the receiving part of the photosensor are both located on one side of the outer periphery of the rotating mirror assembly and are distributed on both sides of the grating along the axial direction of the rotating mirror assembly. In the above two schemes, the grating occupies the axial space of the rotating mirror assembly or the space of the outer periphery of the radial direction of the rotating mirror assembly, so that the overall volume of the rotating mirror assembly is large.

[0075] In view of this, referring to Figures 1-8 , the embodiment provides an optical distance measuring device 10, which can be used in any device that needs to perform optical distance measurement, for example, the optical distance measuring device 10 can be used in a vehicle, a drone, a ship, an automated production line, an anthropomorphic robot or a cleaning robot and the like. For the convenience of description, in the following embodiment, the optical distance measuring device 10 is taken as an example for description.

[0076] Referring to Figures 1-3 , and Figure 6 , the optical distance measuring device 10 includes a base 100, an optical engine assembly 200, a rotating mirror assembly 300, a driving assembly 400 and a detection assembly 500. The base 100 is used to directly or indirectly connect and fix the optical engine assembly 200, the rotating mirror assembly 300, the driving assembly 400 and the detection assembly 500. The specific structure of the base 100 is determined according to actual needs, in some embodiments, the base 100 can define an internal space covering the optical engine assembly 200, the rotating mirror assembly 300, the driving assembly 400 and the detection assembly 500, and the optical engine assembly 200, the rotating mirror assembly 300, the driving assembly 400 and the detection assembly 500 are all arranged in the internal space of the base 100. In other embodiments, the base 100 can also be only a base for fixing the optical engine assembly 200, the rotating mirror assembly 300, the driving assembly 400 and the detection assembly 500, and the optical engine assembly 200, the rotating mirror assembly 300, the driving assembly 400 and the detection assembly 500 are all directly or indirectly connected above the base 100. Referring to Figures 1-3 , and Figure 6 In the embodiment, the base 100 includes a housing assembly, which defines an internal space, and the optical engine assembly 200, the rotating mirror assembly 300, the driving assembly 400 and the detection assembly 500 are all arranged in the internal space of the housing assembly.

[0077] Referring to Figures 1-3The light machine assembly 200 is connected to the base 100 and is used to emit and receive light beams. The rotating mirror assembly 300 is rotatably connected to the base 100 and is used to reflect the light beams emitted by the light machine assembly 200 and reflect the light beams reflected by the external object to the light machine assembly 200. After the light machine assembly 200 emits the light beams and receives the light beams reflected by the external object, the relative position parameters between the external object and the optical distance measuring device 10 are obtained by analyzing and processing the parameters such as the angle of the light beams reflected by the rotating mirror assembly 300, the time when the light beams are emitted by the light machine assembly 200, and the time when the light beams are received by the light machine assembly 200. The driving assembly 400 is connected to the base 100 and the rotating mirror assembly 300, respectively. The driving assembly 400 drives the rotating mirror assembly 300 to rotate around the rotation axis 330 relative to the base 100, so that the light beams emitted by the light machine assembly 200 can be reflected by the rotating mirror assembly 300 in different directions, thereby improving the scanning range of the optical distance measuring device 10.

[0078] Referring to Figures 1-3 , and Figures 6-7 In some embodiments, the rotating mirror assembly 300 includes a support part 310 and a reflecting part 320. The support part 310 is used to fix the reflecting part 320. The driving assembly 400 drives the support part 310 to rotate around the rotation axis 330, so that the reflecting part 320 rotates around the rotation axis 330. The reflecting part 320 includes a reflecting surface 321. The reflecting part 320 reflects the light beams through the reflecting surface 321. In this embodiment, the rotating mirror assembly 300 includes two reflecting parts 320, so that the rotating mirror assembly 300 has two reflecting surfaces 321. One of the reflecting surfaces 321 of the rotating mirror assembly 300 is used to reflect the light beams emitted by the light machine assembly 200, and the other reflecting surface 321 of the rotating mirror assembly 300 is used to reflect the light beams reflected by the external object. The support part 310 of the rotating mirror assembly 300 includes a light separating plate 313 which separates the two reflecting parts 320 along the direction of the rotation axis 330. The light separating plate 313 is arranged between the two reflecting parts 320, so as to separate the light beams reflected by the light machine assembly 200 and the light beams reflected by the external object, thereby avoiding crosstalk between the two light beams. The two reflecting surfaces 321 of the two reflecting parts 320 of the rotating mirror assembly 300 can be arranged parallel to each other, coplanarly or intersectingly. In this embodiment, the two reflecting surfaces 321 are arranged coplanarly, so that when the rotating mirror assembly 300 rotates to any position, the rotation angles of the two reflecting surfaces 321 of the rotating mirror assembly 300 relative to the light machine assembly 200 are equal. In other embodiments, the rotating mirror assembly 300 can have only one reflecting part 320. The reflecting surface 321 of the reflecting part 320 simultaneously reflects the light beams emitted by the light machine assembly 200 and the light beams reflected by the external object.

[0079] Referring to Figures 1-3The detection assembly 500 comprises a first magnetic member 510 and a first magnetic sensing member 520. The first magnetic member 510 is connected to the rotating mirror assembly 300, so that when the rotating mirror assembly 300 rotates around the rotation axis 330, the first magnetic member 510 rotates around the rotation axis 330 along with the rotating mirror assembly 300. The first magnetic member 510 has magnetism, which can be a permanent magnet or an electromagnet. When the first magnetic member 510 is an electromagnet, in one embodiment, a power supply can be arranged on the support portion 310 of the rotating mirror assembly 300, and the power supply is electrically connected to the first magnetic member 510 to supply power to the first magnetic member 510, so that the first magnetic member 510 generates a magnetic field. In another embodiment, a power supply circuit can be arranged on the support portion 310 of the rotating mirror assembly 300, and the power supply circuit is electrically connected to the driving assembly 400 through a brush to obtain electric energy, and the electromagnet is electrically connected to the power supply circuit to generate a magnetic field after being electrified.

[0080] Referring to Figures 1-3 The first magnetic sensing member 520 is connected to the base 100. Specifically, the first magnetic sensing member 520 can be directly connected to the base 100, or indirectly connected to the base 100 through other structures fixed relative to the base 100, such as a circuit board 540 connected to the optical engine assembly 200 or the optical distance measuring device 10. The first magnetic sensing member 520 has a first sensing region, and the first magnetic member 510 is configured to pass through the first sensing region during the process of rotating along with the rotating mirror assembly 300 relative to the base 100 and is sensed by the first magnetic sensing member 520. It should be noted that in the present embodiment, the first sensing region is defined by the position of the first magnetic member 510 when it is sensed, that is, when the first magnetic sensing member 520 senses the first magnetic member 510 and generates a first sensing signal, the region where the first magnetic member 510 is located is the first sensing region, and the entire region of the first magnetic sensing member 520 that can sense the magnetic member is not the first sensing region. The first sensing region is arranged in spaced relation to the first magnetic sensing member 520.

[0081] When the first magnetic sensing member 520 senses the first magnetic member 510, a first sensing signal is generated, and the first sensing signal is used to indicate the time when the rotating mirror assembly 300 rotates to a preset position. Specifically, according to the first sensing signal, the time when the first magnetic member 510 is located at the first sensing area can be determined, thereby facilitating marking the time when the initial position of the rotating mirror assembly 300 (when the rotating mirror assembly 300 is located at the initial position when the first magnetic member 510 is defined to be located at the first sensing area) is located. When measuring the rotation angle of the rotating mirror assembly 300 relative to the base 100, after sensing that the rotating mirror assembly 300 is located at the initial position, the measurement of the rotation angle of the rotating mirror assembly 300 can be reset to avoid error accumulation. In the embodiment, since the first magnetic member 510 and the first magnetic sensing member 520 can be inductively coupled in the air, the position arrangement of the first magnetic member 510 and the first magnetic sensing member 520 is more flexible, and the first magnetic sensing member 520 is less likely to interfere with the position of the rotating mirror assembly 300, so that the relative position between the rotating mirror assembly 300 and the first magnetic sensing member 520 does not need to be considered during the assembly process of the rotating mirror assembly 300, and the assembly of the rotating mirror assembly 300 is more convenient. Moreover, since the relative position arrangement between the first magnetic sensing member 520 and the first magnetic member 510 is more flexible, the first magnetic sensing member 520 can make full use of the redundant space of the rotating mirror assembly 300, for example, the first magnetic member 510 can be connected to the back space of the reflecting portion 320. When the first magnetic sensing member 520 is arranged in the redundant space of the rotating mirror assembly 300, the first magnetic member 510 does not need to additionally occupy the space of the rotating mirror assembly 300 along the axial direction or along the radial direction, thereby reducing the overall volume of the optical distance measuring device 10.

[0082] The position of the first magnetic member 510 relative to the rotating mirror assembly 300 can be determined according to actual requirements, and it is only required that the first magnetic member 510 can pass through the first induction region in the process of the rotating mirror assembly 300 rotating around the rotation axis 330. For example, in some embodiments, the first magnetic member 510 can be located on one side of the rotating mirror assembly 300 along the axial direction of the rotation axis 330, and the first induction region is located on one side of the rotating mirror assembly 300 along the axial direction of the rotation axis 330. At this time, the magnetic pole direction of the first magnetic member 510 can be parallel to the rotation axis 330, the first magnetic induction member 520 and the first induction region are arranged opposite to each other along the axial direction of the rotation axis 330, when the first magnetic induction member 520 senses the first magnetic member 510 and generates the first induction signal, the first magnetic induction member 520 and the first magnetic member 510 are arranged opposite to each other along the axial direction of the rotation axis 330, the first magnetic induction member 520 is located on one side of the rotating mirror assembly 300 along the axial direction of the rotation axis 330 and is spaced apart from the rotating mirror assembly 300; or, the magnetic pole direction of the first magnetic member 510 can be perpendicular to the rotation axis 330, the first magnetic induction member 520 and the first induction region are arranged opposite to each other along the radial direction of the rotation axis 330, when the first magnetic induction member 520 senses the first magnetic member 510 and generates the first induction signal, the first magnetic induction member 520 and the first magnetic member 510 are arranged opposite to each other along the radial direction of the rotation axis 330, the first magnetic induction member 520 is located on one side of the rotating mirror assembly 300 along the radial direction of the rotation axis 330 and is spaced apart from the rotating mirror assembly 300. In other embodiments, the first magnetic member 510 can also be arranged at the edge position of the rotating mirror assembly 300 along the radial direction, and the first induction region is located at the edge position of the rotating mirror assembly 300 along the radial direction. At this time, the magnetic pole direction of the first magnetic member 510 can be parallel to the rotation axis 330, the first magnetic induction member 520 and the first induction region are arranged opposite to each other along the axial direction of the rotation axis 330, when the first magnetic induction member 520 senses the first magnetic member 510 and generates the first induction signal, the first magnetic induction member 520 and the first magnetic member 510 are arranged opposite to each other along the axial direction of the rotation axis 330, the first magnetic induction member 520 is located on one side of the rotating mirror assembly 300 along the axial direction of the rotation axis 330 and is spaced apart from the rotating mirror assembly 300; or, the magnetic pole direction of the first magnetic member 510 can be perpendicular to the rotation axis 330, the first magnetic induction member 520 and the first induction region are arranged opposite to each other along the radial direction of the rotation axis 330, when the first magnetic induction member 520 senses the first magnetic member 510 and generates the first induction signal, the first magnetic induction member 520 and the first magnetic member 510 are arranged opposite to each other along the radial direction of the rotation axis 330, the first magnetic induction member 520 is located on one side of the rotating mirror assembly 300 along the radial direction of the rotation axis 330 and is spaced apart from the rotating mirror assembly 300. Specifically, see Figures 1-3In the embodiment, the first magnetic member 510 is located at a radially edge position of the rotating mirror assembly 300, the first sensing region is located at a radially edge position of the rotating mirror assembly 300, the magnetic pole direction of the first magnetic member 510 is perpendicular to the rotation axis 330, the first magnetic sensing member 520 is oppositely arranged with the first sensing region along the radial direction of the rotating mirror assembly 300, when the first magnetic sensing member 520 senses the first magnetic member 510 and generates a first sensing signal, the first magnetic sensing member 520 is oppositely arranged with the first magnetic member 510 along the radial direction of the rotation axis 330, and the first magnetic sensing member 520 is located at one side of the rotating mirror assembly 300 along the radial direction and oppositely arranged with the rotating mirror assembly 300. In this scheme, the first magnetic sensing member 520 is closer to the first magnetic member 510, so that the distance between the first sensing region and the first magnetic sensing member 520 is closer, and the sensing accuracy of the first magnetic sensing member 520 is higher.

[0083] Referring to Figure 2 and Figure 7 In some embodiments, the support part 310 of the rotating mirror assembly 300 has a first side 314 and a second side 315 oppositely arranged along a direction perpendicular to the rotation axis 330. The reflecting part 320 is connected to the support part 310 and located at the first side 314, the reflecting surface 321 of the reflecting part 320 faces away from the support part 310, and the first magnetic member 510 is connected to the support part 310 and located at the second side 315. Since the second side 315 of the support part 310 is a redundant space of the rotating mirror assembly 300, when the first magnetic member 510 is arranged at the second side 315 of the support part 310, the space of the second side 315 of the support part 310 can be reasonably utilized, thereby reducing the space occupied by the whole composed of the support part 310 and the first magnetic member 510, and reducing the volume of the optical distance measuring device 10. In some embodiments, the first magnetic member 510 can be located at a radially edge position of the support part 310 along the rotation axis 330, so that the first magnetic member 510 can be closer to the outer circumferential side of the rotating mirror assembly 300, and thus the first sensing region can be closer to the first magnetic sensing member 520, thereby improving the sensing accuracy of the first magnetic sensing member 520.

[0084] Referring to Figures 2-3 and Figure 7In some embodiments, the support part 310 of the rotating mirror assembly 300 comprises a driving seat 311 and a supporting seat 312. The driving seat 311 is connected to the driving assembly 400. Specifically, the driving seat 311 is provided with a concave cavity with an opening facing away from the supporting seat 312. The inner peripheral wall of the concave cavity of the driving seat 311 is fitted to the rotor 420 of the driving assembly 400. The stator 410 of the driving assembly 400 is arranged in the interior of the rotor 420 and is spaced apart from the rotor 420. The rotor 420 rotates relative to the stator 410, thereby driving the driving seat 311 to rotate relative to the stator 410. The supporting seat 312 is connected to the driving seat 311 at one end along the rotation axis 330. The supporting seat 312 is provided with a first side 314 and a second side 315 at two sides perpendicular to the rotation axis 330. The reflecting part 320 of the rotating mirror assembly 300 is connected to the first side 314 of the supporting seat 312, and the reflecting surface 321 of the reflecting part 320 faces away from the supporting seat 312. The first magnetic member 510 is connected to the second side 315 of the supporting seat 312. Further, the first magnetic member 510 is connected to the end of the supporting seat 312 close to the driving seat 311 and is connected to the part of the driving seat 311 facing the side of the supporting seat 312. In this scheme, the first magnetic member 510 is connected to the supporting seat 312 at a side perpendicular to the rotation axis 330, and the first magnetic member 510 is connected to the driving seat 311 at a side parallel to the rotation axis 330. The two adjacent sides of the first magnetic member 510 are positioned or fixed, thereby improving the connection stability between the first magnetic member 510 and the support part 310.

[0085] Referring to Figures 6-7 In some embodiments, the driving assembly 400 comprises a rotor 420 and a stator 410. The stator 410 is connected to the base 100, and the rotor 420 is connected to the rotating mirror assembly 300. The rotor 420 is formed as a second magnetic member 421. In some embodiments, the second magnetic member 421 has a plurality of magnetic parts arranged in the circumferential direction along the rotation axis 330. Two magnetic poles, i.e., N pole and S pole, of each magnetic part are arranged alternately. The stator 410 is provided with a plurality of electromagnetic coils arranged in the circumferential direction along the rotation axis 330. After the stator 410 is powered, the magnetic poles of each electromagnetic coil are switched periodically, thereby driving the rotor 420 to rotate around the stator 410, and further driving the rotating mirror assembly 300 to rotate around the stator 410.

[0086] Referring to Figures 4-6In some embodiments, the optical distance measuring device 10 further comprises a second magnetic induction element 530 connected to the base 100. The second magnetic induction element 530 can be directly connected to the base 100 or indirectly connected to the base 100 through other structures of the optical distance measuring device 10 that are fixed relative to the base 100. The second magnetic induction element 530 has a second induction area. The rotor 420 is configured to pass through the second induction area during rotation relative to the stator 410 and be inducted by the second magnetic induction element 530, so that the second magnetic induction element 530 generates a second induction signal. The second induction signal is used to indicate the rotation speed or rotation angle of the rotating mirror assembly 300 relative to the base 100. Specifically, each magnetic part of the second magnetic element 421 can be inducted by the second magnetic induction element 530 when passing through the second induction area. Thus, the rotation angle of the rotating mirror assembly 300 can be calculated according to the change in the magnetic field strength of the second magnetic element 421 inducted by the first magnetic induction element 520. The rotation speed of the rotating mirror assembly 300 can be calculated according to the interval time between two adjacent second induction signals and the rotation angle. In this scheme, the angle through which the rotating mirror assembly 300 rotates is inducted by the second magnetic element 421 and the second magnetic induction element 530. Since the second magnetic element 421 and the second magnetic induction element 530 can induct in the air, the position of the second magnetic induction element 530 is more flexible. The second magnetic induction element 530 is less likely to interfere with the position of the rotating mirror assembly 300. Therefore, the relative position between the rotating mirror assembly 300 and the second magnetic induction element 530 does not need to be considered during assembly of the rotating mirror assembly 300, and the rotating mirror assembly 300 is easier to assemble. Moreover, in this scheme, the second magnetic induction element 530 inducts the rotor 420 as the second magnetic element 421 in the driving assembly 400. Compared with the scheme in which the second magnetic induction element 530 inducts an additional magnetic component connected to the rotating mirror assembly 300, on the one hand, the optical distance measuring device 10 has fewer components and lower material costs. On the other hand, the optical distance measuring device 10 has a smaller size and is more conducive to miniaturization of the optical distance measuring device 10.

[0087] The specific position of the second magnetic induction element 530 can be determined according to actual needs. See Figures 6-7In some embodiments, the second magnetic sensing element 530 can be arranged on the side of the driving assembly 400 along the axial direction of the rotation axis 330 and close to the outer periphery of the driving assembly 400. In this case, for the rotor 420 as the second magnetic element 421, the magnetic field line density is higher on the side of the driving assembly 400 along the axial direction of the rotation axis 330 and close to the outer periphery of the driving assembly 400, so that the sensing accuracy is higher when the second magnetic sensing element 530 is arranged at the above-mentioned position. In other embodiments, the second magnetic sensing element 530 can also be arranged on the side of the outer periphery of the rotor 420 along the radial direction of the rotation axis 330, so as to be more conducive to reducing the height of the optical distance measuring device 10 and realizing the miniaturization design of the optical distance measuring device 10.

[0088] In some embodiments, the first magnetic element 510 is located outside the second sensing area along the path of the rotation of the rotating mirror assembly 300, so that the second magnetic sensing element 530 does not generate an induction signal due to the mis-sensing of the first magnetic sensing element 520, thereby reducing the complexity of signal processing. Similarly, in some embodiments, the rotor 420 is located outside the first sensing area along the path of the rotation relative to the stator 410, so that the first magnetic sensing element 520 does not generate an induction signal due to the mis-sensing of the second magnetic sensing element 530, thereby reducing the complexity of signal processing. In order to reduce the probability of mis-sensing of the second magnetic element 421 by the first magnetic sensing element 520 and the probability of mis-sensing of the first magnetic element 510 by the second magnetic sensing element 530, in some embodiments, the magnetic pole direction of the first magnetic element 510 is arranged to cross the axial direction of the rotor 420. Specifically, the magnetic pole direction of the first magnetic element 510 can be arranged to be perpendicular to the axial direction of the rotor 420. In this case, the most dense position of the magnetic field lines of the first magnetic element 510 is located on the side along the radial direction of the rotation axis 330, and the first magnetic sensing element 520 is located on the side of the outer periphery along the radial direction of the rotating mirror assembly 300; the most dense position of the magnetic field lines of the second magnetic element 421 is located on the side along the axial direction of the rotating mirror assembly 300, and the second magnetic sensing element 530 is located on the side along the circumferential direction of the rotating mirror assembly 300, the arrangement positions and the sensing directions of the first magnetic sensing element 520 and the second magnetic sensing element 530 are different, so that the probability of mis-sensing is reduced.

[0089] Referring to Figures 2-3 , and Figures 7-8In some embodiments, the base 100 comprises a first housing 110, which defines a first space 116, and the rotating mirror assembly 300 is arranged in the first space 116. When the rotating mirror assembly 300 is arranged in the first housing 110, the first magnetic member 510 is arranged in the first housing 110, and at this time, the first magnetic induction member 520 can be arranged in the first housing 110 or outside the first housing 110. In the present embodiment, the first magnetic induction member 520 is arranged outside the first housing 110, so that the first housing 110 can better fit the outer periphery of the rotating mirror assembly 300, so as to improve the light shielding effect of the first housing 110. When the first magnetic induction member 520 is located outside the first housing 110, see Figures 2-3 In some embodiments, the first induction region is located in the first space 116 in the first housing 110, and the first housing 110 is at least partially located in the directly opposite space between the first magnetic induction member 520 and the first induction region. In this scheme, when the first magnetic member 510 is located in the first induction region, the first housing 110 shields the first magnetic induction member 520 and the first magnetic member 510, so that the sealing performance of the first housing 110 is better, and the light shielding effect of the first housing 110 is improved. See Figure 8 In other embodiments, the first housing 110 can also be provided with a first opening hole 111 communicating with the first space 116, the first magnetic induction member 520 is located outside the first housing 110, the first induction region is located in the first space 116, and the first opening hole 111 is located in the directly opposite space between the first magnetic induction member 520 and the first induction region. In this scheme, when the first magnetic member 510 is located in the first induction region, the first opening hole 111 is located between the first magnetic induction member 520 and the first magnetic member 510, so that the first magnetic induction member 520 and the first magnetic member 510 are not shielded, and the induction accuracy of the first magnetic induction member 520 is higher.

[0090] The first housing 110 is provided with a light guide hole, and the light beam emitted by the light machine assembly 200 enters the first space 116 through the light guide hole and is reflected by the rotating mirror assembly 300. The light beam reflected by the external object is reflected by the rotating mirror assembly 300 and then passes through the light guide hole and is received by the light machine assembly 200. The light guide hole can be a complete opening hole or a plurality of opening holes, see Figure 3 and Figure 7In some embodiments, the light guide hole of the first housing 110 includes a second opening 112 and a third opening 113. The light beam emitted by the light machine assembly 200 passes through the second opening 112 and is reflected by the mirror assembly 300. The light beam reflected by the external object passes through the third opening 113 and is reflected by the mirror assembly 300 and received by the light machine assembly 200. Compared with the scheme in which the light guide hole is a complete opening, the scheme in which the light guide hole is provided as multiple openings can make the light shielding area of the position of the first housing 110 between the light machine assembly 200 and the mirror assembly 300 larger, thereby further preventing stray light in the first space 116 from being reflected to the light machine assembly 200 structure, and improving the detection accuracy of the light machine assembly 200. See Figure 3 and Figure 7 In some embodiments, the first housing 110 is provided with a fourth opening 114. The light beam emitted by the light machine assembly 200 is reflected by the mirror assembly 300 and guided out of the fourth opening 114 and towards the external object. The light beam reflected by the external object is guided into the first space 116 through the fourth opening 114 and is reflected by the mirror assembly 300 and received by the light machine assembly 200.

[0091] See Figures 4-6 In some embodiments, when the optical distance measuring device 10 includes a second magnetic sensing element 530, and the second magnetic sensing element 530 is arranged at one end of the mirror assembly 300 along the axis direction and provided with the driving assembly 400, the end of the first housing 110 connected to the driving assembly 400 can be provided with a relief groove 115. The relief groove 115 is a groove with an opening facing the driving assembly 400 or a through groove penetrating the first housing 110. The second magnetic sensing element 530 is arranged in the relief groove 115 and connected to the first housing 110. In this scheme, the relief groove 115 can avoid the second magnetic sensing element 530, thereby reducing the length of the first housing 110 along the circumferential direction of the mirror assembly 300, and further reducing the overall volume of the optical distance measuring device 10.

[0092] See Figures 4-6In some embodiments, the optical distance measuring device 10 further comprises a driving wiring portion 430 fixedly arranged on the base 100, which can be directly connected to the base 100 or indirectly connected to the base 100 by being connected to the stator 410. The driving wiring portion 430 is fixedly arranged with a second magnetic induction piece 530 and is electrically connected to the coil terminal of the second magnetic induction piece 530 and the stator 410 respectively. The wire 440 is used to supply power to the stator 410 through the driving wiring portion 430. Meanwhile, the wire 440 passes through the first shell 110 and is used to output the sensing data of the second magnetic induction piece 530 outward. In this scheme, the second magnetic induction piece 530 transmits data by using the wire 440 used to supply power to the driving assembly 400. Compared with the structure of additionally arranging the wire 440 for transmitting data, on the one hand, the number of wires 440 can be reduced, thereby reducing the material cost of the optical distance measuring device 10. On the other hand, the overall occupied space of the detection assembly 500 can also be reduced, thereby facilitating the miniaturization of the optical distance measuring device 10. Further, in this embodiment, the driving wiring portion 430 can be arranged in the avoiding groove 115 of the first shell 110, thereby further reducing the occupied space of the driving wiring portion 430.

[0093] Referring to Figures 4-7In some embodiments, the base 100 comprises a second housing 120, the second housing 120 defines a second space 124, and the light machine assembly 200 is arranged in the second housing 120. The second housing 120 is provided with a fifth opening 121 communicating with the second space 124, and the optical distance measuring device 10 further comprises a circuit board 540 connected to the second housing 120 and partially or completely covering the fifth opening 121, and the first magnetic induction piece 520 is electrically connected to one side of the circuit board 540 facing the second space 124. In this scheme, on the one hand, the second housing 120 is arranged to surround the light machine assembly 200, which can reduce the external stray light received by the light machine assembly 200, thereby improving the detection accuracy of the light machine assembly 200; on the other hand, by partially or completely closing the fifth opening 121 of the second housing 120 with the circuit board 540, compared with arranging the second circuit board 540 in the second housing 120 or using an additional side plate to close the second housing 120, the number of components of the second housing 120 can be reduced, and the overall volume of the second housing 120 can be reduced. Further, the circuit board 540 is electrically connected to the light machine assembly 200, and a processor can be arranged on the circuit board 540, and the processor on the circuit board 540 can be used for analyzing and processing the data obtained by the light machine assembly 200. Moreover, the first magnetic induction piece 520 can be electrically connected to the circuit board 540, so that the processor on the circuit board 540 can analyze and process the sensing data of the first magnetic induction piece 520. Arranging the first magnetic induction piece 520 in the second housing 120 can provide good protection for the first magnetic induction piece 520, and reduce the probability of reducing the sensing accuracy of the first magnetic induction piece 520 due to covering dust.

[0094] Referring to Figures 4-6In some embodiments, when the light machine assembly 200 is arranged in the second shell 120, the second shell 120 can be provided with a sixth opening 122 and a seventh opening 123, the light beam emitted by the light machine assembly 200 passes through the sixth opening 122 and is reflected by the mirror assembly 300, and the light beam reflected by the external object passes through the sixth opening 122 and is received by the light machine assembly 200. Further, when the base 100 simultaneously includes the first shell 110 and the second shell 120, in some embodiments, the first shell 110 can be connected with the second shell 120, and the second opening 112 of the first shell 110 and the sixth opening 122 of the second shell 120 are in communication, and the third opening 113 of the first shell 110 and the seventh opening 123 of the second shell 120 are in communication, the light beam emitted by the light machine assembly 200 passes through the sixth opening 122 and the second opening 112 in turn and is reflected by the mirror assembly 300, and the light beam reflected by the external object passes through the third opening 113 and the seventh opening 123 in turn and is received by the light machine assembly 200. In other embodiments, when the base 100 simultaneously includes the first shell 110 and the second shell 120, the first shell 110 and the second shell 120 can be integrally formed, at this time, the second opening 112 and the sixth opening 122 are the same opening, and the third opening 113 and the seventh opening 123 are the same opening. In this scheme, the structure of the base 100 is more compact, and the processing efficiency is also higher.

[0095] Referring to Figures 1-8 Embodiments of the second aspect of the application also provide a mobile robot, which comprises the optical distance measuring device 10 of any one of the above. The mobile robot further comprises a robot body, and the optical distance measuring device 10 is connected to the robot body. The robot body is provided with a control system, which can plan a path and avoid obstacles according to the distance information provided by the optical distance measuring device 10. Specifically, the mobile robot can be used for a sweeping robot. In view of the improvement of the optical distance measuring device 10, the mobile robot in this embodiment has all the technical effects of the optical distance measuring device 10 described above, which will not be repeated here.

[0096] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain specific posture, and if the specific posture changes, the directional indications will also change accordingly. When the direction reference is introduced in the specific embodiments, if there is no special limitation that the direction is unidirectional, the direction can be unidirectional or bidirectional (two parallel and opposite directions), and whether it is unidirectional or bidirectional is based on the realization of the ordinary skill in the art. When the direction reference is bidirectional, it is considered that two different embodiments are introduced at the same time.

[0097] In addition, if the description of "first", "second" and the like is involved in the embodiments of the utility model, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the same or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, if "and / or", "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope of the utility model.

[0098] The above is only the preferred embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structural transformation made by the utility model specification and the attached drawings, or direct / indirect application in other related technical fields under the utility model concept of the utility model is included in the patent protection scope of the utility model.

Claims

1. An optical ranging device, characterized in that, include: Base; An optomechanical assembly is connected to the base, and the optomechanical assembly is used to emit a light beam and receive the light beam; A rotating mirror assembly is rotatably connected to the base. The rotating mirror assembly is used to reflect the light beam emitted by the optomechanical assembly and to reflect the light beam reflected by an external object to be received by the optomechanical assembly. A drive assembly is connected to the base and the rotating mirror assembly respectively, and the drive assembly is used to drive the rotating mirror assembly to rotate about the rotation axis relative to the base; The detection component includes a first magnetic element and a first magnetic sensing element, wherein the first magnetic element is connected to the rotating mirror assembly and the first magnetic sensing element is connected to the base; The first magnetic sensing element has a first sensing area, and the first magnetic element is configured to pass through the first sensing area and be sensed by the first magnetic sensing element during the rotation of the rotating mirror assembly relative to the base.

2. The optical ranging device as described in claim 1, characterized in that, The first magnetic element is located on one side of the drive assembly along the axial direction of the rotation axis; And / or, The first magnetic element is located at the radial edge of the rotating mirror assembly; And / or, The first magnetic sensing element is located on one side of the rotating mirror assembly along the radial direction of the rotation axis and is spaced apart from the rotating mirror assembly; or, the first magnetic sensing element is located on one side of the rotating mirror assembly along the axial direction of the rotation axis and is spaced apart from the rotating mirror assembly. And / or, The first sensing area is located at the radial edge of the rotating mirror assembly; or, the first sensing area is located on one side of the rotating mirror assembly along the axial direction of the rotation axis. ； And / or, The first sensing area and the first magnetic sensing element are distributed axially opposite to each other along the rotation axis, and the magnetic poles of the first magnetic element are distributed axially along the rotation axis; or, the first sensing area and the first magnetic sensing element are distributed radially opposite to each other along the rotation axis, and the magnetic poles of the first magnetic element are distributed radially along the rotation axis.

3. The optical ranging device as described in claim 1, characterized in that, The rotating mirror assembly includes a support portion and a reflective portion. The support portion has a first side and a second side that are arranged opposite to each other in a direction perpendicular to the rotation axis. The reflective portion is connected to the support portion and located on the first side. The reflective surface of the reflective portion faces away from the support portion. The first magnetic element is connected to the bracket portion and located on the second side; and / or, the first magnetic element is located at the radial edge of the bracket portion along the rotation axis; and / or, the bracket portion includes a drive seat and a support seat, the drive seat is connected to the drive assembly, one end of the support seat along the rotation axis is connected to the drive seat and has the first side and the second side formed, and the first magnetic element is connected to the end of the support seat near the drive seat and to the portion of the drive seat facing the support seat.

4. The optical ranging device as described in claim 1, characterized in that, The drive assembly includes a rotor and a stator. The rotor is connected to the rotating mirror assembly, and the stator is connected to the base. The rotor is formed as a second magnetic element. The optical ranging device further includes a second magnetic sensor connected to the base, the second magnetic sensor having a second sensing area, and the rotor being configured to pass through the second sensing area and be sensed by the second magnetic sensor during rotation relative to the stator.

5. The optical ranging device as described in claim 4, characterized in that, The second magnetic sensing element is disposed on one side of the drive assembly along the axial direction of the rotation axis and close to the outer periphery of the drive assembly; and / or, The base includes a first housing that defines a first space. The rotating mirror assembly is disposed in the first space. The end of the first housing that connects to the driving assembly is provided with a clearance groove. The clearance groove is either a recessed groove with its opening facing the driving assembly or a through groove that penetrates the first housing. The second magnetic sensing element is disposed in the clearance groove and connected to the first housing. and / or, The optical ranging device further includes a drive wiring section and a wire. The drive wiring section is fixedly disposed on the base. The second magnetic sensing element is fixedly disposed on the drive wiring section and electrically connected to the second magnetic sensing element and the coil terminals of the stator respectively. The wire is used to supply power to the stator through the drive wiring section, and / or the wire is used to output the sensing data of the second magnetic sensing element to the outside. and / or, The first magnetic element is located outside the second sensing area at all points along the path of the rotating mirror assembly. and / or, All points along the path of the rotor's rotation relative to the stator are located outside the first sensing area; and / or, The magnetic pole direction of the first magnetic element is intersected with the axial direction of the rotor.

6. The optical ranging device as described in claim 1, characterized in that, After the first magnetic sensing element senses the first magnetic element, it generates a first sensing signal, which is used to indicate the moment when the rotating mirror assembly rotates to a preset position. and / or, The drive assembly includes a rotor and a stator. The rotor is connected to the rotating mirror assembly, and the stator is connected to the base. The rotor is formed as a second magnetic element. The optical ranging device further includes a second magnetic sensor connected to the base. The second magnetic sensor has a second sensing area. The rotor is configured to pass through the second sensing area and be sensed by the second magnetic sensor during rotation relative to the stator. After sensing the second magnetic element, the second magnetic element generates a second sensing signal, which is used to indicate the rotation speed or rotation angle of the rotating mirror assembly relative to the base.

7. The optical ranging device as described in claim 1, characterized in that, The base includes a first housing that defines a first space, and the rotating mirror assembly is disposed within the first space; the first magnetic sensing element is located outside the first housing, the first sensing area is located within the first space, and the first housing is at least partially located in the space directly opposite the first magnetic sensing element and the first sensing area; or, The base includes a first housing that defines a first space, and the rotating mirror assembly is disposed within the first space. The first housing has a first opening that communicates with the first space. The first magnetic sensing element is located outside the first housing, the first sensing area is located within the first space, and the first opening is located in the space directly opposite the first magnetic sensing element and the first sensing area.

8. The optical ranging device as described in claim 1, characterized in that, The base includes a first housing that defines a first space, and the rotating mirror assembly is disposed within the first space. The optomechanical assembly is located outside the first housing. The first housing has a second opening and a third opening that communicate with the first space. The light beam emitted by the optomechanical assembly passes through the second opening and is reflected by the rotating mirror assembly. The light beam reflected by an external object is reflected by the rotating mirror assembly, passes through the third opening, and is received by the optomechanical assembly. And / or, The base includes a first housing that defines a first space, and the rotating mirror assembly is disposed within the first space. The first housing also has a fourth opening, through which the light beam emitted by the optomechanical assembly is reflected by the rotating mirror assembly and exits through the fourth opening. The light beam reflected by an external object is introduced into the first space through the fourth opening and then reflected by the rotating mirror assembly and received by the optomechanical assembly.

9. The optical ranging device as described in claim 1, characterized in that, The base includes a second housing that defines a second space, and the optomechanical assembly is disposed within the second housing. The second housing has a fifth opening that communicates with the second space. The optical ranging device also includes a circuit board that is connected to the second housing and covers the fifth opening. The first magnetic sensing element is electrically connected to the side of the circuit board facing the second space. And / or, The base includes a second housing that defines a second space, and the optomechanical assembly is disposed within the second housing. The second housing has a sixth opening and a seventh opening. The light beam emitted by the optomechanical assembly passes through the sixth opening and is reflected by the rotating mirror assembly. The light beam reflected by an external object is reflected by the rotating mirror assembly, passes through the sixth opening, and is received by the optomechanical assembly. And / or, The base includes a first housing and a second housing. The first housing defines a first space, and the rotating mirror assembly is disposed within the first space. The second housing defines a second space, and the optomechanical assembly is disposed within the second housing. The first housing and the second housing are integrally formed.

10. A mobile robot, characterized in that, include: The optical ranging device according to any one of claims 1-9; as well as The robot body, with the optical ranging device connected to the robot body.

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