Optical machine module, optical distance measuring device and mobile robot

Abstract

The utility model is suitable for the technical field of optical ranging, and provides an optical machine module, an optical ranging device and a mobile robot, the optical machine module is used for transmitting or receiving a detection light beam, the optical machine module is provided with a first clamping structure, and the first clamping structure is used for being clamped with a second clamping structure of external equipment. In the assembling process, only the first clamping structure and the second clamping structure on the external equipment need to be positioned, and then the first clamping structure and the second clamping structure are buckled. Therefore, according to the optical machine module provided by the invention, the installation of the optical machine module can be realized only through one-time positioning operation and one-time buckling operation, the installation process is simple, and the assembly efficiency can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of optical ranging technology, and more specifically, to an optomechanical module, an optical ranging device, and a mobile robot. Background Technology

[0002] LiDAR, as a core environmental detection and data acquisition device, is widely used in fields such as autonomous driving and robot navigation. A LiDAR system mainly consists of a main structure and a laser transceiver module. The transceiver module is mounted on the main structure and emits laser light into the outside world and receives the laser light reflected back by external obstacles to detect the specific location of those obstacles.

[0003] Currently, in traditional lidar systems, the laser transceiver module is typically mounted on the main structure using bolts or screws. This method requires aligning multiple bolts or screws with different mounting holes on both the main structure and the laser transceiver module, and then tightening them sequentially. This process is cumbersome and has low assembly efficiency. Utility Model Content

[0004] The purpose of this application is to provide an optomechanical module, an optical ranging device, and a mobile robot, aiming to solve the technical problems of cumbersome installation process and low assembly efficiency of laser transceiver modules in the prior art.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] In a first aspect, this application provides an optomechanical module for emitting or receiving a detection beam, wherein the optomechanical module is provided with a first snap-fit ​​structure for snapping with a second snap-fit ​​structure of an external device.

[0007] In one possible design, the first snap-fit ​​structure includes at least one slot, and the second snap-fit ​​structure includes at least one snap fastener, the slot being used to snap into the snap fastener on the external device.

[0008] In one possible design, the number of the first snap-fit ​​structures is multiple;

[0009] The number of the first snap-fit ​​structures is greater than or equal to the number of the second snap-fit ​​structures on the external device; and / or, multiple first snap-fit ​​structures are arranged in pairs, with the arrangement directions of each pair of first snap-fit ​​structures being parallel or perpendicular to each other; and / or, multiple first snap-fit ​​structures are arranged in pairs, with at least two pairs of first snap-fit ​​structures having a distance between one pair of first snap-fit ​​structures that is greater than the distance between the other pair of first snap-fit ​​structures.

[0010] In one possible design, the optomechanical module includes an optomechanical housing, which forms a transmission channel and a receiving channel spaced apart along a first direction; the optomechanical housing includes a plurality of outer surfaces, which surround the outer periphery of both the transmission channel and the receiving channel;

[0011] The plurality of outer surfaces include at least one first side and at least one second side; the first side is located on one side of the transmitting channel and the receiving channel in a second direction, the extension direction of the transmitting channel or the extension direction of the receiving channel is a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; the second side is spaced apart from the transmitting channel or the receiving channel along the first direction;

[0012] The card slots are provided in multiple ways, with at least one card slot provided on the first side and at least one card slot provided on the second side.

[0013] In one possible design, the slot on the first side is a first slot, and there are multiple first slots, which are spaced apart along the first direction.

[0014] And / or, the slot on the second side is a second slot, and there are multiple second slots, which are spaced apart along the second direction;

[0015] And / or, the dimension of the first side along the first direction is greater than the dimension of the second side along the second direction;

[0016] And / or, the slot on the first side is a first slot, the slot on the second side is a second slot, and the number of first slots is greater than the number of second slots;

[0017] And / or, the first side is perpendicular to the second direction;

[0018] And / or, the second side is perpendicular to the first direction;

[0019] And / or, the extension direction of the transmitting channel is parallel to the extension direction of the receiving channel.

[0020] In one possible design, the optomechanical module includes an optomechanical housing, a transmitting unit, and a receiving unit. The optomechanical housing has a transmitting channel and a receiving channel spaced apart along a first direction. The transmitting unit is correspondingly arranged with respect to the transmitting channel, and the receiving unit is correspondingly arranged with respect to the receiving channel. The transmitting unit is used to transmit the detection beam, and the receiving unit is used to receive the detection beam.

[0021] The optomechanical housing includes a front end face and a rear end face, which are located on opposite sides of the transmitting channel and the receiving channel, respectively.

[0022] A first receiving groove is formed on the front end surface; the first receiving groove communicates with the transmitting channel; the transmitting unit includes a transmitter and a transmitting lens, the transmitter is located at the end of the transmitting channel away from the first receiving groove, the transmitting lens is mounted in the first receiving groove and covers the transmitting channel, and in the radial direction of the transmitting lens, the size of the first receiving groove is larger than the size of the transmitting lens; and / or, a second receiving groove is formed on the front end surface, the second receiving groove communicates with the receiving channel; the receiving unit includes a receiver and a receiving lens, the receiver is located at the end of the receiving channel away from the second receiving groove, the receiving lens is mounted in the second receiving groove and covers the receiving channel, and in the radial direction of the receiving lens, the size of the second receiving groove is larger than the size of the receiving lens.

[0023] In one possible design, the optomechanical module includes an optomechanical housing, which has a transmission channel and a receiving channel spaced apart along a first direction; the optomechanical housing includes a front end face and a rear end face, which are located on opposite sides of the transmission channel and the receiving channel, respectively.

[0024] The front end face is provided with a partition, which is located between the transmitting channel and the receiving channel in the first direction; or, the front end face is formed with a groove, which is located between the transmitting channel and the receiving channel in the first direction, and the groove is used to accommodate at least a portion of the light-blocking structure on the external device.

[0025] In one possible design, the extension direction of the transmitting channel or the extension direction of the receiving channel is a third direction; when the front end face is provided with the partition, the length of the partition in the third direction is less than a preset length;

[0026] The preset length is 1 / 8, 1 / 4, or 1 / 2 of the radius of the transmitting channel; or, the preset length is 1 / 8, 1 / 4, or 1 / 2 of the radius of the receiving channel; or, the preset length is 1 / 10, 1 / 8, 1 / 4, or 1 / 2 of the distance between the center of the transmitting channel and the center of the receiving channel.

[0027] In one possible design, the optomechanical module is provided with a first positioning structure, which is used to cooperate with a second positioning structure on the external device to position the optomechanical module on the external device.

[0028] One of the first positioning structure and the second positioning structure is a positioning groove, and the other is a positioning protrusion, wherein the positioning protrusion is inserted into the positioning groove.

[0029] In one possible design, the optomechanical module includes an optomechanical housing, which has a transmission channel and a receiving channel spaced apart along a first direction; the positioning groove is formed on the outer side of the optomechanical housing and completely or partially surrounds the outer periphery of both the transmission channel and the receiving channel.

[0030] In one possible design, the optomechanical module is not connected to the external device by bolts and / or not by adhesive.

[0031] Secondly, this application provides an optical ranging device, including a mounting component and an optomechanical module provided by any of the above technical solutions. The mounting component is formed as the external device of the optomechanical module and is provided with a second snap-fit ​​structure, wherein the first snap-fit ​​structure and the second snap-fit ​​structure are snap-fitted together.

[0032] Thirdly, this application provides a mobile robot, including the optical ranging device provided by any of the above-mentioned technical solutions.

[0033] The beneficial effects of the optical-mechanical module provided in this application are as follows: Compared with the prior art, the optical-mechanical module provided in this application, by setting a first snap-fit ​​structure on the optical-mechanical module, allows the optical-mechanical module to be installed on an external device by snap-fit. The external device is correspondingly provided with a second snap-fit ​​structure. During assembly, it is only necessary to position the first snap-fit ​​structure and the second snap-fit ​​structure on the external device, and then snap the first and second snap-fit ​​structures together. Therefore, the optical-mechanical module provided in this application requires only one positioning operation and one snap-fit ​​operation to achieve installation, simplifying the installation process and effectively improving assembly efficiency.

[0034] The beneficial effects of the optical ranging device provided in this application are as follows: Compared with the prior art, the optical ranging device of this application, by providing a second snap-fit ​​structure on the mounting assembly for snapping with the first snap-fit ​​structure in the optomechanical module, allows the optomechanical module to be mounted on the mounting assembly by snap-fit. For the same reason, the optical ranging device provided in this application only requires one positioning operation and one snap-fit ​​operation to install the optomechanical module on the mounting assembly, simplifying the installation process and effectively improving assembly efficiency.

[0035] The advantages of the mobile robot provided in this application are as follows: compared with the prior art, since the mobile robot provided in this application includes the optical ranging device provided by any of the above technical solutions, it has at least all of the above advantages, which will not be repeated here. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the structure of an optomechanical module provided in one embodiment of this application;

[0038] Figure 2 This is a schematic diagram of the structure of an optical ranging device provided in one embodiment of this application;

[0039] Figure 3 This is an exploded view of the components of an optical ranging device provided in one embodiment of this application;

[0040] Figure 4 This is an assembly diagram of the optomechanical module and mounting components in an optical ranging device provided in one embodiment of this application;

[0041] Figure 5 This is a cross-sectional structural schematic diagram of an optomechanical module provided in one embodiment of this application;

[0042] Figure 6 This is a schematic diagram of the structure of the rotating base in an optical ranging device provided in one embodiment of this application;

[0043] Figure 7 This is a schematic diagram of the structure of an optical ranging device provided in one embodiment of this application after the upper cover is hidden;

[0044] Figure 8 yes Figure 7 A magnified view of a portion of point D.

[0045] The details of the reference numerals used in the above figures are as follows:

[0046] 1. Optical ranging device; 100. Optomechanical module; 110. Optomechanical housing; 111. First side; 112. Second side; 113. Transmitting channel; 114. Receiving channel; 115. First receiving slot; 116. Second receiving slot; 117. Partition; 120. Transmitting unit; 121. Transmitter; 122. Transmitting lens; 130. Receiving unit; 131. Receiver; 132. Receiving lens; 140. First snap-fit ​​structure; 141. First slot; 142. Second slot; 150. Circuit board; 160. First positioning structure; 200. Mounting assembly; 210. Base; 220. Rotating seat; 221. Buckle; 222. Second positioning structure; 223. Light-blocking structure; 2231. First stepped surface; 2232. Second stepped surface; 2233. Clearance space; 300. Top cover. Detailed Implementation

[0047] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0048] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0049] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the structure or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0051] To illustrate the technical solutions described in this application, the following detailed description is provided in conjunction with specific accompanying drawings and embodiments.

[0052] First Embodiment

[0053] like Figure 1 As shown, this embodiment provides an optomechanical module 100, which is used to emit or receive a detection beam. The optomechanical module 100 is provided with a first snap-fit ​​structure 140 for snapping into an external device. In this embodiment, the external device can be a mounting component 200 of an optical ranging device 1, such as a lidar. In some embodiments of this application, the optomechanical module 100 and the external device are not connected by bolts, glue, or neither; the connection is achieved through a first snap-fit ​​structure 140 and a second snap-fit ​​structure.

[0054] The optical engine module 100 provided in this embodiment allows for installation on an external device via a snap-fit ​​mechanism by providing a first snap-fit ​​structure 140. The external device has a corresponding second snap-fit ​​structure. During assembly, only the first snap-fit ​​structure 140 needs to be positioned with the second snap-fit ​​structure on the external device, and then the first and second snap-fit ​​structures are engaged. Therefore, the optical engine module 100 provided in this embodiment requires only one positioning operation and one engagement operation to install, simplifying the installation process and effectively improving assembly efficiency.

[0055] In some embodiments, such as Figures 2 to 4 As shown, one of the first snap-fit ​​structure 140 and the second snap-fit ​​structure includes a slot, and the other includes a latch 221. During assembly, the latch 221 is snapped into the slot, allowing the optical engine module 100 to be installed on an external device.

[0056] In one example, the first snap-fit ​​structure 140 includes at least one slot, and the second snap-fit ​​structure includes at least one latch 221. The slot is used to snap with the latch 221 on an external device. It is worth noting that the snap-fit ​​221 snaps with the slot in such a way that a portion of the latch 221 extends into the slot. Specifically, the latch 221 includes a main body and a snap-fit ​​portion. The main body is connected to the external device, and the snap-fit ​​portion is connected to the main body. The snap-fit ​​portion extends into the slot, thereby achieving the snap-fit ​​between the latch 221 and the slot. It can be understood that the longer the snap-fit ​​portion, the longer the length of the latch 221 extending into the slot, resulting in a more stable fit between the latch 221 and the slot, thus increasing the installation stability of the optical engine module 100. Therefore, in this configuration, according to the different installation stability requirements of various external devices for the optical engine module 100, latches 221 with different lengths of locking portions can be provided on the external devices to meet the installation stability requirements of the external devices for the optical engine module 100. This allows the same optical engine module 100 to be used in external devices with locking portions of different lengths, thereby improving the standardization of the optical engine module 100. For example, in some external devices with high movement speeds or prone to shaking during movement, the installation stability requirements of the optical engine module 100 are high. In such external devices, latches 221 with longer locking portions can be provided to improve the installation stability of the optical engine module 100. For ease of description, the following description will use the example of the first locking structure 140 including a slot and the second locking structure including a latch 221.

[0057] In one possible design, there are multiple first snap-fit ​​structures 140, and the number of first snap-fit ​​structures 140 is greater than or equal to the number of second snap-fit ​​structures on the external device. Since the positions of the second snap-fit ​​structures may differ in different external devices, setting the number of first snap-fit ​​structures 140 to be greater than the number of second snap-fit ​​structures on the external device allows for the selection of different first snap-fit ​​structures 140 to match the second snap-fit ​​structures on different external devices, which is beneficial for improving the standardization of the optomechanical module 100.

[0058] In some embodiments, the external device is provided with at least two latches 221 spaced apart, and the optical engine module 100 may be provided with two or more slots. At least two slots are respectively provided on opposite sides of the optical engine module 100, with one latch 221 engaging with a slot on one side of the optical engine module 100, and the other latch 221 engaging with a slot on the opposite side of the optical engine module 100. This allows the optical engine module 100 to be stably mounted on the external device.

[0059] In one possible design, there are multiple first snap-fit ​​structures 140, and these multiple first snap-fit ​​structures 140 are arranged in pairs, with the arrangement directions of each pair of first snap-fit ​​structures 140 being parallel or perpendicular to each other. In this embodiment, the optical engine module 100 is provided with at least two pairs of first snap-fit ​​structures 140. When the optical engine module 100 is snapped with an external device, the first snap-fit ​​structures 140 are adapted to snap-fit ​​with the second snap-fit ​​structure in pairs. When the optical engine module 100 is provided with only two pairs of first snap-fit ​​structures 140, the arrangement directions of the two pairs of first snap-fit ​​structures 140 can be perpendicular or parallel. When the optical engine module 100 is provided with three or more pairs of first snap-fit ​​structures 140, the arrangement directions of the multiple pairs of first snap-fit ​​structures 140 can be parallel or perpendicular to each other; or, the arrangement directions of at least two pairs of first snap-fit ​​structures 140 are parallel to each other, and the arrangement directions of the supports of at least two pairs of first snap-fit ​​structures 140 are perpendicular to each other. For example, when there are two pairs of first snap-fit ​​structures 140 arranged in mutually perpendicular directions, different pairs of first snap-fit ​​structures 140 can be selected to be installed with different external devices as needed, thereby meeting the installation direction requirements of different optomechanical modules 100 or the spatial arrangement requirements of different external devices, which is conducive to improving the standardization of optomechanical modules 100.

[0060] In one possible design, there are multiple first snap-fit ​​structures 140, and these multiple first snap-fit ​​structures 140 are arranged in pairs. At least two pairs of first snap-fit ​​structures 140 have a greater distance between one pair than the other pair. In this embodiment, the optomechanical module 100 is provided with at least two pairs of first snap-fit ​​structures 140. When the optomechanical module 100 is snapped into an external device, the first snap-fit ​​structures 140 are adapted to snap into the second snap-fit ​​structures in pairs. For example, when there are different distances between two pairs of first snap-fit ​​structures 140, different pairs of first snap-fit ​​structures 140 can be selected to be installed with different external devices as needed, thereby meeting the spatial arrangement requirements of the second snap-fit ​​structures on different external devices and improving the standardization of the optomechanical module 100.

[0061] In one possible design, such as Figure 1 and Figure 5As shown, the optomechanical module 100 includes an optomechanical housing 110, which forms a transmitting channel 113 and a receiving channel 114 spaced apart along a first direction. The optomechanical housing 110 includes multiple outer surfaces surrounding the outer periphery of both the transmitting channel 113 and the receiving channel 114. The multiple outer surfaces include at least one first side surface 111 and at least one second side surface 112. The first side surface 111 is located on one side of the transmitting channel 113 and the receiving channel 114 in the second direction. The extension direction of the transmitting channel 113 or the extension direction of the receiving channel 114 is a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other. In the figures provided in the embodiments of this application, the first direction is indicated by a double arrow AA, the second direction by a double arrow BB, and the third direction by a double arrow CC. The second side surface 112 is spaced apart from the transmitting channel 113 along the first direction, or the second side surface 112 is spaced apart from the receiving channel 114 along the first direction. Multiple slots are provided, with at least one slot on the first side 111 and at least one slot on the second side 112. It should be noted that the side of the external device with the second latching structure (latch 221) is the mounting surface. The optical engine module 100 is mounted on the mounting surface of the external device by latching the slot with the latch 221. When the external device latches the slot on the first side 111, the first direction is perpendicular to the mounting surface; that is, the transmitting channel 113 and the receiving channel 114 are spaced apart along a direction perpendicular to the mounting surface. This is a vertical mounting. When the external device latches the slot on the second side 112, the first direction is parallel to the mounting surface; that is, the transmitting channel 113 and the receiving channel 114 are spaced apart along a direction parallel to the mounting surface. This is a horizontal mounting. By providing slots on both the first side 111 and the second side 112, the optical engine module 100 can be installed vertically or horizontally, thereby meeting the installation requirements of different external devices and improving the standardization of the optical engine module 100.

[0062] It is understood that the first side 111 is located on one side of the transmitting channel 113 and the receiving channel 114 in the second direction. Specifically, the first side 111 is located on either the first or second side of the transmitting channel 113 and the receiving channel 114 in the second direction, with the first and second sides facing away from each other. When there are multiple first sides 111, for example, when two first sides 111 are included among the multiple outer sides, one first side 111 is located on the first side of the transmitting channel 113 and the receiving channel 114 in the second direction, and the other first side 111 is located on the second side of the transmitting channel 113 and the receiving channel 114 in the second direction.

[0063] It is understood that the second side 112, the transmitting channel 113, and the receiving channel 114 are spaced apart along the first direction. Specifically, in the first direction, the second side 112 can be located on the side of the transmitting channel 113 opposite to the receiving channel 114, and the second side 112 can also be located on the side of the receiving channel 114 opposite to the transmitting channel 113. When there are multiple second sides 112, for example, when two second sides 112 are included among the multiple outer sides, one second side 112 is located on the side of the transmitting channel 113 opposite to the receiving channel 114, and the other second side 112 is located on the side of the receiving channel 114 opposite to the transmitting channel 113.

[0064] For ease of description, the following text will use the multiple outer surfaces of the optical engine housing 110, including two first surfaces 111 and two second surfaces 112, as examples for illustration.

[0065] In one possible design, such as Figure 1 and Figure 4 As shown, the slot on the first side 111 is a first slot 141. There are multiple first slots 141, which are spaced apart along a first direction. With this arrangement, when the optical engine module 100 is installed vertically, different first slots 141 can be selected to match the clips 221 on different external devices. For example, in the direction perpendicular to the mounting surface (i.e., the first direction), clips 221 with higher engagement parts can engage with higher first slots 141, and clips 221 with lower engagement parts can engage with lower first slots 141, which helps to improve the standardization of the optical engine module 100.

[0066] In another possible design, such as Figure 1 and Figure 4 As shown, the slot on the second side 112 is a second slot 142. There are multiple second slots 142, which are spaced apart along the second direction. With this arrangement, when the optical engine module 100 is installed horizontally, different second slots 142 can be selected to match the clips 221 on different external devices, which also helps to improve the standardization of the optical engine module 100.

[0067] In another possible design, there are multiple first card slots 141 and multiple second card slots 142, with the multiple first card slots 141 spaced apart along a first direction and the multiple second card slots 142 spaced apart along a second direction. This arrangement is beneficial for further improving the standardization of the optomechanical module 100.

[0068] Optionally, the shapes of the transmitting channel 113 and the receiving channel 114 can be cylindrical, prismatic, or elliptical.

[0069] Optionally, the dimension of the first side 111 along the first direction is greater than the dimension of the second side 112 along the second direction; that is, the length of the first side 111 along the first direction is greater than the length of the second side 112 along the second direction. If the external device can provide more installation space for the optical engine module 100 in the direction perpendicular to the mounting surface than in the direction parallel to the mounting surface, it can be installed vertically, with the spacing of the paired clips 221 on the external device set closer together and engaging with the slots on the first side 111. Conversely, if the external device can provide more installation space for the optical engine module 100 in the direction parallel to the mounting surface than in the direction perpendicular to the mounting surface, it can be installed horizontally, with the spacing of the paired clips 221 on the external device set farther apart and engaging with the slots on the second side 112. In other words, this can meet the installation requirements of different external devices and is conducive to improving the standardization of the optical engine module 100.

[0070] Optionally, the number of slots on the first side 111 is greater than the number of slots on the second side 112, that is, the number of first slots 141 is greater than the number of second slots 142. In other words, when the optical engine module 100 is installed vertically, it can match the setting height of the clips 221 on a wider variety of different external devices compared to a horizontal installation.

[0071] Optionally, the first side 111 is perpendicular to the second direction. Optionally, the second side 112 is perpendicular to the first direction. Optionally, the extension direction of the transmitting channel 113 is parallel to the extension direction of the receiving channel 114; specifically, both the extension directions of the transmitting channel 113 and the receiving channel 114 are third directions. For ease of description, the following explanation will use the example of both the extension directions of the transmitting channel 113 and the receiving channel 114 being third directions.

[0072] In one possible design, the optomechanical module 100 includes an optomechanical housing 110, a transmitting unit 120, and a receiving unit 130. The optomechanical housing 110 is formed with a transmitting channel 113 and a receiving channel 114 spaced apart along a first direction. The transmitting unit 120 is correspondingly arranged with the transmitting channel 113, and the receiving unit 130 is correspondingly arranged with the receiving channel 114. The transmitting unit 120 is used to transmit a detection beam, and the receiving unit 130 is used to receive the detection beam.

[0073] It is worth noting that the detection beam emitted by the transmitting unit 120 is directed to the outside of the optomechanical housing 110 via the transmitting channel 113. The detection beam is reflected back to the optomechanical housing 110 and then directed to the receiving unit 130 via the receiving channel 114, where it is received. When the optomechanical module 100 is applied to an external device, the detection beam emitted from the transmitting channel 113 (i.e., the detection beam emitted by the transmitting unit 120) can be emitted to the outside of the external device after passing through the transmitting channel 113 to scan for obstacles in the external environment. When the detection beam hits an obstacle, it can be reflected back to the receiving channel 114 and received by the receiving unit 130. Alternatively, the external device may be equipped with a reflector. The detection beam emitted from the transmitting channel 113 is reflected to the outside of the external device by the reflector. When the detection beam hits an obstacle in the outside of the external device, it is reflected back to the reflector and then to the receiving unit 130, where it is received.

[0074] In one possible design, the optomechanical housing 110 includes a front end face and a rear end face, which are located on opposite sides of the transmission channel 113 and the receiving channel 114, respectively. Specifically, the front end face and the rear end face are located on opposite sides of the transmission channel 113 and the receiving channel 114 in a third direction. A first receiving groove 115 is formed on the front end face, and the first receiving groove 115 communicates with the transmission channel 113. The transmission unit 120 includes a transmitter 121 and a transmitting lens 122. The transmitter 121 is located at the end of the transmission channel 113 away from the first receiving groove 115, and the transmitting lens 122 is mounted in the first receiving groove 115 and covers the transmission channel 113. In the radial direction of the transmitting lens 122, the size of the first receiving groove 115 is larger than the size of the transmitting lens 122. It is worth noting that the transmitter 121 is located at the end of the transmission channel 113 away from the first receiving groove 115. Specifically, the transmitter 121 can be located on the side of the transmission channel 113 away from the first receiving groove 115, with the transmitter 121 and the transmission channel 113 facing each other in the third direction and spaced apart; or at least part of the structure of the transmitter 121 can extend into the transmission channel 113 from the end of the transmission channel 113 away from the first receiving groove 115.

[0075] In this embodiment, the transmitter 121 is used to emit a detection beam. The detection beam emitted by the transmitter 121 passes sequentially through the emission channel 113 and the emission lens 122 before exiting to the outside of the optomechanical housing 110. In this embodiment, the emission lens 122 is an optical lens capable of refracting the beam, allowing the detection beam to exit at a certain angle after passing through the emission lens 122. By adjusting the mounting position of the emission lens 122 relative to the transmitter 121, the elevation angle of the emitted detection beam can be adjusted.

[0076] In the radial direction of the emitting lens 122, by making the size of the first receiving groove 115 larger than the size of the emitting lens 122, a certain gap can be formed between the emitting lens 122 and the inner peripheral wall of the first receiving groove 115 when the emitting lens 122 is installed in the first receiving groove 115. On the one hand, glue can be filled in the gap to fix the emitting lens 122 in the first receiving groove 115; on the other hand, it is convenient to adjust the position of the emitting lens 122 relative to the transmitter 121, thereby adjusting the pitch angle of the detection beam after passing through the emitting lens 122, so as to meet the pitch angle requirements of different external devices for the detection beam emitted to the outside world.

[0077] In one possible design, a second receiving groove 116 is formed on the front end face, and the second receiving groove 116 communicates with the receiving channel 114. The receiving unit 130 includes a receiver 131 and a receiving lens 132. The receiver 131 is located at the end of the receiving channel 114 away from the second receiving groove 116, and the receiving lens 132 is mounted in the second receiving groove 116 and covers the receiving channel 114. In the radial direction of the receiving lens 132, the size of the second receiving groove 116 is larger than the size of the receiving lens 132. It is worth noting that the receiver 131 is located at the end of the receiving channel 114 away from the second receiving groove 116. Specifically, the receiver 131 can be located on the side of the receiving channel 114 away from the second receiving groove 116, with the receiver 131 and the receiving channel 114 facing each other and spaced apart in a third direction; or at least part of the structure of the receiver 131 can extend into the receiving channel 114 from the end of the receiving channel 114 away from the second receiving groove 116.

[0078] In this embodiment, the receiver 131 is used to receive the detection beam. The detection beam emitted by the transmitter 121 is reflected back to the optical housing 110 and then passes sequentially through the receiving lens 132 and the receiving channel 114 before being received by the receiver 131. In this embodiment, the receiving lens 132 is also an optical lens capable of refracting the beam. The receiving lens 132 can refract the detection beam at a predetermined incident angle, allowing the beam to be emitted to and received by the receiver 131. By adjusting the mounting position of the receiving lens 132 relative to the receiver 131, the elevation angle of the emitted detection beam can be adjusted.

[0079] According to the above configuration, when the receiving lens 132 is installed in the second receiving groove 116, there is a certain gap between the receiving lens 132 and the inner peripheral wall of the second receiving groove 116. On the one hand, glue can be filled in this gap to fix the receiving lens 132 in the second receiving groove 116; on the other hand, it facilitates the adjustment of the position of the receiving lens 132 relative to the receiver 131, so that the detection beam that enters the receiving lens 132 at a predetermined incident angle can be accurately emitted to the receiver 131 after passing through the receiving lens 132, thereby meeting the requirements of different external devices for the incident angle of the detection beam received by the receiver 131. In this embodiment, only the first receiving groove 115 or the second receiving groove 116 can be formed on the front end surface, or both the first receiving groove 115 and the second receiving groove 116 can be formed.

[0080] In one possible design, such as Figure 5 As shown, the radial direction of the emitting lens 122 is perpendicular to the third direction. On the projection plane perpendicular to the third direction, the outer contour projection of the first receiving groove 115 surrounds the outer periphery of the outer contour projection of the emitting lens 122, and the shape of the outer contour projection of the first receiving groove 115 matches the shape of the outer contour projection of the emitting lens 122. On the projection plane perpendicular to the third direction, the outer contour projection of the second receiving groove 116 surrounds the outer periphery of the outer contour projection of the receiving lens 132, and the shape of the outer contour projection of the second receiving groove 116 matches the shape of the outer contour projection of the receiving lens 132.

[0081] In one example, on a projection plane perpendicular to a third direction, the outer contour projections of both the emitting lens 122 and the receiving lens 132 are circular, as are the outer contour projections of the first receiving groove 115 and the second receiving groove 116. In this example, the diameter of the outer contour projection of the first receiving groove 115 is larger than the diameter of the outer contour projection of the emitting lens 122, and the diameter of the outer contour projection of the second receiving groove 116 is larger than the diameter of the outer contour projection of the receiving lens 132.

[0082] In one possible design, such as Figure 1 , Figure 4 or Figure 5 As shown, a partition 117 is provided on the front end face of the optomechanical housing 110. In the first direction, the partition 117 is located between the transmitting channel 113 and the receiving channel 114. By providing the partition 117, the possibility that the detection beam emitted by the transmitter 121 enters the receiving channel 114 and is received by the receiver 131 due to reflection inside the external device before it is emitted to the outside of the external device can be reduced. In other words, the possibility of light crosstalk between the transmitting channel 113 and the receiving channel 114 can be reduced, thereby improving the accuracy of the external device in scanning and detecting external obstacles.

[0083] Since the space available to accommodate the optomechanical module 100 in the external device may be limited, the length of the partition 117 protruding from the optomechanical housing 110 should not be too long. In one possible design, the length of the partition 117 in the third direction is less than a preset length. Optionally, the preset length is 1 / 8, 1 / 4, or 1 / 2 of the radius of the transmitting channel 113; or, the preset length is 1 / 8, 1 / 4, or 1 / 2 of the radius of the receiving channel 114; or, the preset length is 1 / 10, 1 / 8, 1 / 4, or 1 / 2 of the distance between the center of the transmitting channel 113 and the center of the receiving channel 114. This arrangement results in a shorter length of the partition 117 protruding from the optomechanical housing 110, which provides a certain light-blocking effect. In external devices with higher anti-light-spreading requirements, a light-blocking structure 223 can be further installed on the external device, allowing the partition 117 with its shorter protrusion length to cooperate with the light-blocking structure 223 in the external device, thereby achieving a better light-blocking effect. In this embodiment, the radius of the transmitting channel 113 specifically refers to the maximum radius of the transmitting channel 113, and the radius of the receiving channel 114 specifically refers to the maximum radius of the receiving channel 114.

[0084] In one possible design, a groove (not shown) is formed on the front end face of the optomechanical housing 110. In a first direction, the groove is located between the transmission channel 113 and the receiving channel 114, and the groove is used to accommodate at least a portion of the light-blocking structure 223 on the external device. This arrangement provides a good light-blocking effect through the light-blocking structure 223.

[0085] In one possible design, such as Figure 1 , Figure 4 or Figure 5As shown, the optomechanical module 100 also includes a circuit board 150. The circuit board 150 is located on the second side of the transmit channel 113 and the receive channel 114 in a third-party orientation, with the first and second sides facing away from each other. Both the transmitter 121 and the receiver 131 are mounted on the circuit board 150, with the transmitter 121 opposite to the transmit channel 113 and the receiver 131 opposite to the receive channel 114. In this embodiment, the circuit board 150 can be a PCB (Printed Circuit Board) or other circuit board. In this embodiment, both the transmitter 121 and the receiver 131 are electrically connected to the circuit board 150, and the circuit board 150 is powered to supply power to the transmitter 121 and the receiver 131. Furthermore, a controller is also installed on the circuit board 150 so that the controller is electrically connected to the transmitter 121 and the receiver 131 respectively. The controller is used to collect information on the detection beam emitted by the transmitter 121 and the information on the detection beam received by the receiver 131. The controller is also used to analyze and calculate the information on the detection beam emitted by the transmitter 121 and the information on the detection beam received by the receiver 131, thereby determining the specific location of obstacles in the external environment of the external device.

[0086] In some embodiments, the transmitting channel 113 and the receiving channel 114 are respectively disposed through the optical engine housing 110 along a third direction, the circuit board 150 is mounted on the second side of the optical engine housing 110 in the third direction, and the circuit board 150 covers the end of the transmitting channel 113 away from the first receiving groove 115 and the end of the receiving channel 114 away from the second receiving groove 116.

[0087] In one possible design, such as Figure 1 ,like Figure 4 and Figure 6 As shown, the optical engine module 100 is provided with a first positioning structure 160, which is used to cooperate with a second positioning structure 222 on an external device to position the optical engine module 100 in the installation position on the external device. One of the first positioning structure 160 and the second positioning structure 222 is a positioning groove, and the other is a positioning protrusion, which is inserted into the positioning groove. During assembly, the positioning protrusion is first aligned with the positioning groove so that the latch 221 on the external device aligns with the corresponding latch on the optical engine housing 110. Then, the positioning protrusion is inserted into the positioning groove. During the insertion of the positioning protrusion into the positioning groove, the latching part of the latch 221 engages with the latch, thus realizing the installation of the optical engine module 100. As can be seen, the cooperation of the positioning protrusion and the positioning groove not only positions the optical engine module 100 in the installation position on the external device but also guides the installation process of the optical engine module 100, facilitating its installation.

[0088] In one possible design, when the optomechanical module 100 includes an optomechanical housing 110, a positioning groove is formed on the outer surface of the optomechanical housing 110, and the positioning groove completely or partially surrounds the outer periphery of both the transmitting channel 113 and the receiving channel 114. In some embodiments, the positioning groove is an annular groove, that is, it completely surrounds the outer periphery of both the transmitting channel 113 and the receiving channel 114; in other embodiments, the positioning groove is a C-shaped groove or a multi-segmented groove structure, that is, the positioning groove partially surrounds the outer periphery of both the transmitting channel 113 and the receiving channel 114. In practical applications, the placement position of the second positioning structure 222 may differ in different external devices. Therefore, the first positioning structure 160 is configured as a positioning groove, and the positioning groove surrounds the outer periphery of both the transmitting channel 113 and the receiving channel 114, so that when the optomechanical module 100 is applied to different external devices, the second positioning structure 222 (positioning protrusion) on each external device can be smoothly inserted into the positioning groove. Furthermore, regardless of whether the optical engine module 100 is installed vertically or horizontally, the positioning protrusions on the external device can be inserted into the positioning slots. This effectively improves the standardization of the optical engine module 100.

[0089] Second Embodiment

[0090] like Figures 2 to 4 As shown, this embodiment provides an optical ranging device 1, including a mounting component 200 and an optical engine module 100 provided in any of the above embodiments. The mounting component 200 is formed as an external device of the optical engine module 100 and is provided with a second snap-fit ​​structure, and the first snap-fit ​​structure 140 and the second snap-fit ​​structure are snapped together.

[0091] The optical ranging device 1 of this application embodiment provides a second snap-fit ​​structure on the mounting assembly 200 for snapping with the first snap-fit ​​structure 140 in the optomechanical module 100, allowing the optomechanical module 100 to be mounted on the mounting assembly 200 via a snap-fit ​​mechanism. During assembly, only the first snap-fit ​​structure 140 needs to be positioned with the second snap-fit ​​structure on the mounting assembly 200, and then the first snap-fit ​​structure 140 and the second snap-fit ​​structure need to be engaged. Therefore, the optical ranging device 1 provided in this application embodiment requires only one positioning operation and one engagement operation to mount the optomechanical module 100 on the mounting assembly 200, simplifying the installation process and effectively improving assembly efficiency.

[0092] In some embodiments, one of the first snap-fit ​​structure 140 and the second snap-fit ​​structure includes a slot, and the other includes a latch 221. During assembly, the latch 221 is snapped into the slot to mount the optical engine module 100 onto the mounting assembly 200, that is, to mount the optical engine module 100 onto the mounting assembly 200. Specifically, the latch 221 includes a main body and a snap-fit ​​part. The main body is connected to the mounting assembly 200, and the snap-fit ​​part is connected to the main body. The snap-fit ​​part extends into the slot, thereby achieving snap-fit ​​between the latch 221 and the slot. For ease of description, the following description will use the example of the first snap-fit ​​structure 140 including the slot and the second snap-fit ​​structure including the latch 221.

[0093] Optionally, such as Figure 3 , Figure 4 and Figure 6 As shown, the mounting assembly 200 includes a base 210 and a rotating seat 220. The rotating seat 220 is rotatably mounted on the base 210. The rotating seat 220 has a mounting surface, on which two sets of latches 221 are spaced apart. Each set of latches 221 includes at least one latch. When each set of latches 221 includes one latch, one set of latches 221 engages with one of the second slots 142 on one of the second side surfaces 112, and the other set of latches 221 engages with one of the second slots 142 on the other second side surface 112. When each set of latches 221 includes multiple latches 221, the multiple latches 221 in one set can be latched into the same second slot 142 on one of the second side surfaces 112, or they can be latched into different second slots 142 on one of the second side surfaces 112. Similarly, the multiple latches 221 in one set can be latched into the same second slot 142 on another second side surface 112, or they can be latched into different second slots 142 on another second side surface 112. In this configuration, the detection beam emitted from the transmission channel 113 (i.e., the detection beam emitted by the transmitter 121) can be directly emitted to the outside of the optical ranging device 1 to scan the external environment of the optical ranging device 1 for obstacles. When the detection beam is emitted to an obstacle, the detection beam can be directly reflected back to the receiving channel 114 by the obstacle and received by the receiver 131. In this embodiment, the rotation axis of the rotating base 220 is perpendicular to the mounting surface. When the rotating base 220 rotates relative to the base 210, the optomechanical module 100 on the rotating base 220 rotates relative to the base 210, thereby enabling the detection beam emitted by the transmitter 121 in the optomechanical module 100 to be emitted to the outside of the optical ranging device 1 for obstacle scanning and detection.

[0094] Alternatively, the mounting assembly 200 may include a base 210 and a reflector (not shown), with the reflector rotatably mounted on the base 210. The base 210 has a mounting surface with two sets of latches 221 spaced apart, each set including at least one latch. When each set includes one latch, one set of latches 221 engages with one of the first slots 141 on one of the first side faces 111, and the other set engages with one of the first slots 141 on the other first side face 111. When each set of latches 221 includes multiple latches 221, the multiple latches 221 in one set can be engaged in the same first slot 141 on one of the first side faces 111, or they can be engaged in different first slots 141 on one of the first side faces 111. Similarly, the multiple latches 221 in one set can be engaged in the same first slot 141 on another first side face 111, or they can be engaged in different first slots 141 on another first side face 111. In this configuration, the detection beam emitted from the transmission channel 113 is reflected by the reflector to the outside of the optical ranging device 1. When the detection beam is emitted to an obstacle in the outside of the optical ranging device 1, the detection beam is reflected back to the reflector by the obstacle and then reflected by the reflector to the receiver 131 for reception. In this embodiment, the rotation axis of the reflector is perpendicular to the mounting surface. When the reflector rotates relative to the base 210, it also rotates relative to the optomechanical module 100, so that the reflector can reflect the detection beam emitted by the transmitter 121 to the outside of the optical ranging device 1 for obstacle scanning and detection.

[0095] In one specific embodiment, as shown in Figure 4, the multiple outer surfaces of the optical engine housing 110 include two first side surfaces 111 and two second side surfaces 112. The two first side surfaces 111 are spaced apart along a second direction, and the two second side surfaces 112 are located between the two first side surfaces 111 and spaced apart along a first direction. Adjacent first side surfaces 111 and second side surfaces 112 are connected to each other. Each first side surface 111 has two first slots 141 spaced apart along the first direction, and each second side surface 112 has one second slot 142. The mounting assembly 200 includes a base 210 and a rotating base 220. The mounting surface of the rotating base 220 has two sets of latches 221 spaced apart along the first direction. Each set of latches 221 includes two latches 221. The two latches 221 of one set are engaged in the second slot 142 on one of the second side surfaces 112, and the two latches 221 of the other set are engaged in the second slot 142 on the other second side surface 112, so that the optical engine module 100 is stably mounted on the rotating base 220.

[0096] Furthermore, such as Figure 4As shown, the optomechanical housing 110 has a first positioning structure 160 and a second positioning structure 222 on its mounting surface. One of the first positioning structure 160 and the second positioning structure 222 is a positioning groove, and the other is a positioning protrusion, which is inserted into the positioning groove. Optionally, the first positioning structure 160 is a positioning groove that completely or partially surrounds the outer periphery of both the transmitting channel 113 and the receiving channel 114. In some embodiments, the positioning groove is an annular groove, that is, it completely surrounds the outer periphery of both the transmitting channel 113 and the receiving channel 114; in other embodiments, the positioning groove is a C-shaped groove or a multi-segmented groove structure, that is, the positioning groove partially surrounds the outer periphery of both the transmitting channel 113 and the receiving channel 114.

[0097] In one specific example, the first positioning structure 160 is a positioning groove, and the positioning groove is an annular groove, and the second positioning structure 222 is a positioning protrusion. Two positioning protrusions are provided at intervals along the first direction on the mounting surface, one of which is inserted into the part of the positioning groove located on one of the second side surfaces 112, and the other positioning protrusion is inserted into the part of the positioning groove located on the other second side surface 112.

[0098] Optionally, such as Figure 2 and Figure 3 As shown, a top cover 300 is also installed on the base 210. The top cover 300 covers the rotating base 220 and the optomechanical module 100 on the rotating base 220 to protect the optomechanical module 100. The top cover 300 has a light-transmitting area, which can be light-transmitting glass or a through hole. The detection beam can be emitted to the outside of the optical ranging device 1 through the light-transmitting area, and the detection beam reflected back from the outside can also be emitted to the receiver 131 through the light-transmitting area and received by the receiver 131. Optionally, the light-transmitting area is arranged around the rotation axis of the rotating base 220 around the outer periphery of the optomechanical module 100, so that when the rotating base 220 drives the optomechanical module 100 to rotate at any angle relative to the base 210, the detection beam can be emitted to the outside of the optical ranging device 1, and the detection beam reflected back from the outside can also be smoothly emitted to the receiver 131 through the light-transmitting area.

[0099] In one possible design, such as Figures 6 to 8As shown, the mounting assembly 200 is provided with a light-blocking structure 223, and the optical engine module 100 in the optical engine module 100 is provided with a partition 117. The partition 117 on the optical engine module 100 means that the optical engine housing 110 of the optical engine module 100 has a partition 117 on its first side in the third direction. On the projection plane perpendicular to the third direction, the projection of the partition 117 and the projection of the light-blocking structure 223 at least partially overlap. Thus, the partition 117 and the light-blocking structure 223 work together to achieve a good light-blocking effect, thereby reducing the possibility of light crosstalk between the transmission channel 113 and the receiving channel 114, and improving the accuracy of the optical ranging device 1 in scanning external obstacles. Alternatively, on the projection plane perpendicular to the first direction, the projection of the partition 117 and the projection of the light-blocking structure 223 at least partially overlap. This arrangement has at least the same beneficial effects as described above, and will not be elaborated further here. Alternatively, on a projection plane perpendicular to a third direction, the projection of the partition 117 and the projection of the light-blocking structure 223 at least partially overlap, and on a projection plane perpendicular to the first direction, the projection of the partition 117 and the projection of the light-blocking structure 223 at least partially overlap. In this way, the partition 117 and the light-blocking structure 223 work together to achieve better light blocking, thereby further reducing the possibility of light crosstalk between the transmitting channel 113 and the receiving channel 114, and further improving the accuracy of the optical ranging device 1 in scanning external obstacles.

[0100] In one possible design, such as Figures 6 to 8 As shown, a clearance space 2233 is formed on the side of one of the light-blocking structures 223 and the partition 117 closest to the other, and at least a portion of the structure of the one without the clearance space 2233 is located within the clearance space 2233. This arrangement saves space occupied by the light-blocking structure 223 and the partition 117, making the structure of the optical ranging device 1 more compact. Furthermore, it ensures that the projections of the partition 117 and the light-blocking structure 223 at least partially overlap on a projection plane perpendicular to a third direction, and also at least partially overlap on a projection plane perpendicular to the first direction, allowing the partition 117 and the light-blocking structure 223 to work together to achieve a better light-blocking effect.

[0101] In some embodiments, the outline shape of the clearance space 2233 on the projection plane perpendicular to the second direction can be "L"-shaped or "U"-shaped. For example, as... Figure 8As shown, the outline shape of the clearance space 2233 on the projection plane perpendicular to the second direction is "L". Specifically, the light-blocking structure 223 has a first step surface 2231 and a second step surface 2232 on the side near the partition 117. The first step surface 2231 is located on one side of the partition 117 in the first direction and is parallel to the third direction and the second direction, respectively. The second step surface 2232 is located on the side of the first step surface 2231 away from the partition 117 and is parallel to the second direction and the first direction, respectively. The first step surface 2231 and the second step surface 2232 are connected and enclosed to form the clearance space 2233.

[0102] Third Embodiment

[0103] This embodiment provides a mobile robot, including the optical ranging device 1 provided in any of the above embodiments. Since the mobile robot provided in this application includes the optical ranging device 1 provided in any of the above embodiments, it has at least all of the above-mentioned beneficial effects, which will not be repeated here.

[0104] In some embodiments, the mobile robot further includes a body having an inner cavity, in which the optical ranging device 1 is installed and connected to the inner wall of the cavity. A light-transmitting structure is formed on the inner wall of the cavity. The light-transmitting structure is made of a light-transmitting material such as glass or acrylic. The light-transmitting structure is configured to allow the detection beam to pass through, thereby enabling the transmitter 121 in the optomechanical module 100 to emit the detection beam to the outside of the mobile robot. The detection beam can also be emitted back to the receiver 131 by external obstacles, thereby realizing obstacle scanning and detection of the outside of the mobile robot.

[0105] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An optomechanical module for emitting or receiving a detection beam, characterized in that, The optomechanical module (100) is provided with a first snap-fit ​​structure (140), which is used to snap-fit ​​with a second snap-fit ​​structure of an external device. The number of the first snap-fit ​​structure (140) is multiple, and the multiple first snap-fit ​​structures (140) are arranged in pairs, and the arrangement directions of each pair of first snap-fit ​​structures (140) are parallel or perpendicular to each other.

2. The optomechanical module as described in claim 1, characterized in that, The first snap-fit ​​structure (140) includes at least one snap-fit ​​slot, and the second snap-fit ​​structure includes at least one snap-fit ​​(221), the snap-fit ​​slot being used to snap-fit ​​with the snap-fit ​​(221) on the external device.

3. The optomechanical module as described in claim 1 or 2, characterized in that, The number of the first snap-fit ​​structures (140) is greater than or equal to the number of the second snap-fit ​​structures on the external device; and / or, at least one pair of the first snap-fit ​​structures (140) has a distance between them that is greater than the distance between the other pair of the first snap-fit ​​structures (140).

4. The optomechanical module as described in claim 2, characterized in that, The optical engine module (100) includes an optical engine housing (110), which forms a transmission channel (113) and a receiving channel (114) spaced apart along a first direction; the optical engine housing (110) includes a plurality of outer surfaces, which surround the outer periphery of both the transmission channel (113) and the receiving channel (114); The plurality of said outer surfaces include at least one first side surface (111) and at least one second side surface (112); the first side surface (111) is located on one side of the transmitting channel (113) and the receiving channel (114) in a second direction, the extension direction of the transmitting channel (113) or the extension direction of the receiving channel (114) is a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; the second side surface (112) is spaced apart from the transmitting channel (113) or the receiving channel (114) along the first direction; The card slots are provided in multiple ways, with at least one card slot provided on the first side (111) and at least one card slot provided on the second side (112).

5. The optomechanical module as described in claim 4, characterized in that, The slot on the first side (111) is a first slot (141), and there are multiple first slots (141), which are spaced apart along the first direction; And / or, the slot on the second side (112) is a second slot (142), and there are multiple second slots (142), which are spaced apart along the second direction; And / or, the dimension of the first side (111) along the first direction is greater than the dimension of the second side (112) along the second direction; And / or, the slot on the first side (111) is a first slot (141), and the slot on the second side (112) is a second slot (142), and the number of first slots (141) is greater than the number of second slots (142); And / or, the first side (111) is perpendicular to the second direction; And / or, the second side (112) is perpendicular to the first direction; And / or, the extension direction of the transmitting channel (113) is parallel to the extension direction of the receiving channel (114).

6. The optomechanical module as described in claim 1, characterized in that, The optomechanical module (100) includes an optomechanical housing (110), a transmitting unit (120), and a receiving unit (130). The optomechanical housing (110) has a transmitting channel (113) and a receiving channel (114) spaced apart along a first direction. The transmitting unit (120) is correspondingly arranged with the transmitting channel (113), and the receiving unit (130) is correspondingly arranged with the receiving channel (114). The transmitting unit (120) is used to transmit the detection beam, and the receiving unit (130) is used to receive the detection beam. The optical engine housing (110) includes a front end face and a rear end face, which are located on both sides of the transmitting channel (113) and the receiving channel (114), respectively. A first receiving groove (115) is formed on the front end surface; the first receiving groove (115) communicates with the emission channel (113); the emission unit (120) includes a transmitter (121) and an emission lens (122), the transmitter (121) is located at the end of the emission channel (113) away from the first receiving groove (115), the emission lens (122) is mounted in the first receiving groove (115) and covers the emission channel (113), and in the radial direction of the emission lens (122), the size of the first receiving groove (115) is larger than the size of the emission lens (122); and / or Alternatively, a second receiving groove (116) is formed on the front end surface, and the second receiving groove (116) is connected to the receiving channel (114); the receiving unit (130) includes a receiver (131) and a receiving lens (132), the receiver (131) is located at one end of the receiving channel (114) away from the second receiving groove (116), the receiving lens (132) is mounted on the second receiving groove (116) and covers the receiving channel (114), and in the radial direction of the receiving lens (132), the size of the second receiving groove (116) is larger than the size of the receiving lens (132).

7. The optomechanical module as described in claim 1, characterized in that, The optomechanical module (100) includes an optomechanical housing (110), which forms a transmission channel (113) and a receiving channel (114) spaced apart along a first direction; the optomechanical housing (110) includes a front end face and a rear end face, which are located on both sides of the transmission channel (113) and the receiving channel (114), respectively. The front end face is provided with a partition (117), which is located between the transmitting channel (113) and the receiving channel (114) in the first direction; or, the front end face is formed with a groove, which is located between the transmitting channel (113) and the receiving channel (114) in the first direction, and the groove is used to accommodate at least a portion of the light-blocking structure (223) on the external device.

8. The optomechanical module as described in claim 7, characterized in that, The extension direction of the transmitting channel (113) or the extension direction of the receiving channel (114) is a third direction; when the front end is provided with the partition (117), the length of the partition (117) in the third direction is less than a preset length; The preset length is 1 / 8, 1 / 4, or 1 / 2 of the radius of the transmitting channel (113), or the preset length is 1 / 8, 1 / 4, or 1 / 2 of the radius of the receiving channel (114), or the preset length is 1 / 10, 1 / 8, 1 / 4, or 1 / 2 of the distance between the center of the transmitting channel (113) and the center of the receiving channel (114).

9. The optomechanical module as described in claim 1 or 2, characterized in that, The optical engine module (100) is provided with a first positioning structure (160), which is used to cooperate with a second positioning structure (222) on the external device to position the optical engine module (100) on the external device. One of the first positioning structure (160) and the second positioning structure (222) is a positioning groove, and the other is a positioning protrusion, wherein the positioning protrusion is inserted into the positioning groove.

10. The optomechanical module as described in claim 9, characterized in that, The optomechanical module (100) includes an optomechanical housing (110), which has a transmitting channel (113) and a receiving channel (114) spaced apart along a first direction; a positioning groove is formed on the outer side of the optomechanical housing (110), and the positioning groove completely or partially surrounds the outer periphery of both the transmitting channel (113) and the receiving channel (114).

11. The optomechanical module as described in claim 1 or 2, characterized in that, The optical engine module is not connected to the external device by bolts and / or by adhesive.

12. An optical ranging device, characterized in that, Includes a mounting component (200) and an optical engine module (100) as claimed in any one of claims 1 to 11, wherein the mounting component (200) is formed as an external device of the optical engine module (100) and is provided with a second snap-fit ​​structure, wherein the first snap-fit ​​structure (140) and the second snap-fit ​​structure snap-fit ​​together.

13. A mobile robot, characterized in that, Includes the optical ranging device (1) as described in claim 12.

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