Optical distance measuring device and self-moving equipment

Abstract

The utility model belongs to the technical field of optical distance measurement, and discloses an optical distance measurement device and self-moving equipment, the optical distance measurement device comprises a seat body, an optical machine assembly, a rotating mirror assembly and a driving assembly, the rotating mirror assembly comprises a support and a reflecting mirror group installed on the support, and the support is rotatably arranged on the seat body around a rotating axis; the support is provided with an upper end and a lower end which are arranged along the rotating axis, the base body exerts supporting force on the support, and the direction of the supporting force is the direction from the lower end of the support to the upper end of the support. The upper end of the support is a free end, the support and the base body are arranged in a spaced mode or in an abutting mode, and the driving assembly is used for driving the rotating mirror assembly to rotate around the rotating axis; the driving assembly comprises a stator and a rotor, the stator is fixedly arranged relative to the base, and the rotor is installed on the support. The stator applies axial tension to the rotor, and the direction of the axial tension is from the upper end of the support to the lower end of the support. The optical distance measuring device provided by the utility model is simpler and more compact in structure, and facilitates the realization of low-cost and miniaturized design of self-moving equipment.

Description

TECHNICAL FIELD

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

[0002] With the rapid development of self -moving equipment such as floor cleaning robot, mower, to ensure that self -moving equipment in corresponding scene smoothly executes target task, taking floor cleaning robot as an example, optical ranging device such as laser radar is usually arranged on floor cleaning robot to realize the data acquisition of environment map construction, positioning and navigation, obstacle identification and obstacle avoidance etc.

[0003] To expand the environment scanning range and extract the contour information of target objects such as obstacles, the existing optical ranging device usually rotates the light beam within a certain range. For example, the optical ranging device includes a rotating mirror arranged on a rotating shaft to control the light beam to scan in multiple directions within the application environment through the rotation of the rotating mirror. However, it has been found through practice that for self-moving equipment that needs to enter low scenes such as sofa bottom and bed bottom for work, and has specific requirements for the overall height to meet the stacking requirements, the rotating mirror mounting structure in the existing optical ranging device is not only complex in structure and occupies a large space, but also is not conducive to the low-cost and miniaturization design of self-moving equipment. SUMMARY

[0004] The purpose of the embodiments of the utility model is to solve the technical problem of complex rotating mirror mounting structure of the existing optical ranging device, which leads to large product space occupation and high cost.

[0005] In order to solve the above technical problems, the embodiments of the utility model provide an optical ranging device, which adopts the following technical scheme:

[0006] The optical ranging device comprises:

[0007] a seat body;

[0008] an optical-mechanical assembly arranged on the seat body and used for emitting and receiving a detection light beam;

[0009] a rotating mirror assembly comprising a bracket and a mirror group mounted on the bracket; the bracket is arranged on the seat body in rotation around a rotating axis, the bracket has an upper end and a lower end arranged along the rotating axis, the seat body applies a supporting force to the bracket, the direction of the supporting force is the direction in which the lower end of the bracket points to the upper end of the bracket; the upper end of the bracket is a free end, and is arranged in spaced relation or abutting relation with the seat body; the mirror group is used for reflecting the detection light beam from the optical-mechanical assembly to an external environment, and reflecting the detection light beam reflected back by the external environment to the optical-mechanical assembly;

[0010] A driving assembly is configured to drive the rotating mirror assembly to rotate around the rotation axis; the driving assembly comprises a stator and a rotor, the stator is fixedly arranged relative to the seat body, and the rotor is mounted on the support; the stator applies an axial tension to the rotor, and the axial tension is directed from the upper end of the support to the lower end of the support.

[0011] In some embodiments, the magnetic field center of the rotor is higher than the magnetic field center of the stator.

[0012] In some embodiments, the geometric center of the rotor is higher than the geometric center of the stator.

[0013] In some embodiments, the gravity center of the rotor is higher than the gravity center of the stator.

[0014] In some embodiments, the height center of the rotor is higher than the height center of the stator.

[0015] In some embodiments, the driving assembly further comprises a rotating shaft.

[0016] The upper end of the rotating shaft is fixedly connected to the lower end of the support, and the lower end of the rotating shaft is rotatably arranged on the seat body.

[0017] Alternatively, the lower end of the rotating shaft is fixedly connected to the seat body, the support is rotatably arranged on the rotating shaft, and the upper end of the rotating shaft is spaced apart from the lower end of the support along the extension direction of the rotation axis.

[0018] In some embodiments, the optical distance measuring device further comprises a boss, the driving assembly further comprises a bearing, the boss is provided with a mounting hole along the extension direction of the rotation axis, and the rotating shaft is rotatably inserted into the mounting hole through the bearing.

[0019] When the upper end of the rotating shaft is fixedly connected to the lower end of the support, the boss is fixedly arranged on the seat body; the stator is sleeved on the radial outer side of the boss, and the stator is in contact with or spaced apart from the outer side wall of the boss.

[0020] When the lower end of the rotating shaft is fixedly connected to the seat body, the upper end of the boss is fixedly connected to the lower end of the support; the stator is sleeved on the radial outer side of the boss, and the stator is spaced apart from the outer side wall of the boss.

[0021] In some embodiments, the lower end of the support is convexly provided with a containing ring on the side away from the upper end, and at least part of the rotating shaft, at least part of the rotor, and at least part of the stator are located in the containing ring.

[0022] In some embodiments, the seat body comprises a side portion, a top portion, and a bottom portion.

[0023] The side portion is arranged radially opposite to the rotating mirror assembly along the rotation axis;

[0024] The top portion is integrally formed with or fixedly connected with the upper end of the side portion; wherein the upper end of the support is arranged with a gap or abuts along the extension direction of the rotation axis, and / or a limiting structure is arranged between the upper end of the support and the top portion, for limiting the radial swing of the upper end of the support relative to the top portion along the rotation axis;

[0025] The bottom portion is integrally formed with or fixedly connected with the lower end of the side portion; the lower end of the support is arranged on the bottom portion and can rotate around the rotation axis, and the bottom portion applies the support force to the support.

[0026] In some embodiments, when the limiting structure is arranged between the support and the top portion, the limiting structure comprises a concave portion and a convex portion in a concave-convex matching manner;

[0027] Either the upper end of the support or the top portion of the seat body is provided with the concave portion, and the other is provided with the convex portion.

[0028] In some embodiments, the optical mechanism assembly comprises a transmitting portion and a receiving portion, and the transmitting portion and the receiving portion are arranged in a top-bottom manner;

[0029] The mirror set comprises a first mirror body and a second mirror body, a first side surface of the first mirror body is used for reflecting the detection light beam from the transmitting portion to the external environment, and a second side surface of the second mirror body is used for reflecting the detection light beam reflected back by the external environment to the receiving portion;

[0030] The rotating mirror assembly further comprises a light-blocking layer connected to the support; along the radial direction of the rotation axis, at least part of the light-blocking layer is located between the outer space of the first side surface and the outer space of the second side surface;

[0031] The side opposite to the first side surface of the rotating mirror assembly is a third side surface, and the side opposite to the second side surface of the rotating mirror assembly is a fourth side surface; wherein the third side surface is formed as a reflective surface or a non-reflective surface, and the fourth side surface is formed as a reflective surface or a non-reflective surface; along the radial direction of the rotation axis, at least part of the light-blocking layer is located between the outer space of the third side surface and the outer space of the fourth side surface.

[0032] In some embodiments, the seat body comprises a side portion, the side portion is formed with a first cavity having an opening, the rotating mirror assembly is accommodated in the first cavity, and the opening is used for avoiding the passage of the detection light beam reflected to the external environment and for avoiding the passage of the detection light beam reflected back by the external environment.

[0033] The light isolation layer is arranged with a cavity wall gap of the first cavity;

[0034] And / or, a groove is concavely arranged on the cavity wall of the first cavity, and the groove and the peripheral edge of the light isolation layer are oppositely arranged along the radial direction of the rotation axis.

[0035] Secondly, the utility model discloses a kind of self-moving equipment, using the technical scheme as follows: the self-moving equipment includes body and above-mentioned optical distance measuring device, and the optical distance measuring device is arranged in the body.

[0036] Compared with prior art, the optical distance measuring device and the self-moving equipment provided by the utility model embodiment mainly have the following beneficial effects:

[0037] The optical distance measuring device provides sufficient acting force for the rotating mirror assembly in rotation under the joint action of the supporting force of the seat to the bracket and the shaft tension of the stator to the rotor, to ensure that the rotating mirror assembly in rotation does not separate from the seat, can keep still with the driving assembly and the seat at the mounting position, and also ensures that the rotating mirror assembly in rotation does not shake in the radial direction of the rotation axis, so that the upper end of the bracket can be set as a free end to remove the fixed connection structure between the upper end of the bracket and the seat, and the structure of the optical distance measuring device can be further simplified and compacted, which is beneficial to realize low-cost and miniaturization design of the optical distance measuring device application product. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the scheme in the utility model, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments or corresponding prior art of the utility model, and other drawings can also be obtained by those skilled in the art without creative labor. Among them:

[0039] Figure 1 is a planar sectional view of the optical distance measuring device in one example of the utility model;

[0040] Figure 2 is a planar sectional view of the optical distance measuring device in one example of the utility model; Figure 1 is a local enlarged view of A in

[0041] Figure 3 is a three-dimensional structural schematic diagram of the optical distance measuring device after removing the shell in one example of the utility model;

[0042] Figure 4is a three-dimensional structure schematic view of one example of the utility model;

[0043] Figure 5 is Figure 3 a three-dimensional explosion schematic view;

[0044] Figure 6 is the plane section view of the optical distance measuring device in another example of the utility model.

[0045] The signs in the drawings are as follows:

[0046] 100, optical distance measuring device; 200, first direction; 300, second direction;

[0047] 1, seat body; 11, side part; 111, first cavity; 1111, open mouth; 1112, recess; 12, top part; 13, bottom part; 14, light emitting hole; 15, light receiving hole;

[0048] 3, rotating mirror assembly; 31, support; 311, containing ring; 32, reflecting mirror group; 321, first mirror body; 3211, first side face; 3212, third side face; 322, second mirror body; 3221, second side face; 3222, fourth side face; 33, rotating axis; 34, rotating shaft; 35, light isolation layer;

[0049] 4, driving assembly; 41, stator; 42, rotor; 43, bearing;

[0050] 5, boss; 51, mounting hole;

[0051] 6, limiting structure; 61, recess; 62, convex part;

[0052] 7, shell; 8, gasket. DETAILED DESCRIPTION

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the utility model belongs; the terms used in the specification are only for the purpose of describing specific embodiments, and are not intended to limit the utility model, for example, the terms "length", "width", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or position based on the orientation or position shown in the drawings, and are only convenient for description, and cannot be understood as a limitation on the technical scheme.

[0054] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this utility model are intended to cover non-exclusive inclusion; the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish different objects, not to describe a specific order. "A plurality of" means two or more, unless otherwise explicitly specified.

[0055] In the description, claims, and accompanying drawings of this utility model, when an element is referred to as "fixed to," "mounted to," "set on," or "connected to" another element, it can be directly or indirectly located on that other element. For example, when an element is referred to as "connected to" another element, it can be directly or indirectly connected to that other element. When the term "and / or" is used, it means including three parallel solutions; for example, "Solution A and / or Solution B" includes Solution A, or Solution B, or a solution that satisfies both A and B.

[0056] Furthermore, the terms "embodiment," "implementation," "example," etc., used herein refer to specific features, structures, or characteristics described in connection with an embodiment that may be included in at least one embodiment of this utility model. These phrases appearing in various places throughout the specification do not necessarily refer to the same embodiment, nor are they independent or alternative embodiments mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0057] This utility model embodiment provides an optical ranging device 100, which is suitable for self-moving devices and can be used to identify the distance between the self-moving device and external objects. Specifically, it can be used for environmental map construction, obstacle identification and avoidance, positioning and navigation, etc., thereby guiding the driving and operation of the self-moving device.

[0058] It should be noted that the self-moving devices described herein can be used both indoors and outdoors, and include, but are not limited to, cleaning robots (such as sweeping robots, mopping robots, washing and mopping robots, water surface cleaning robots, etc.), lawn mowing robots, and logistics robots (such as robots used for object handling in factories, restaurants, hotels, etc.). Furthermore, the optical ranging device 100 described herein can be a semi-solid-state LiDAR, or other suitable types or structures of optical ranging products.

[0059] like Figure 1 As shown, the optical ranging device 100 includes a base 1, an optomechanical assembly (not shown), a rotating mirror assembly 3, and a drive assembly 4. The base 1 can be used to mount the optomechanical assembly, the rotating mirror assembly 3, and the drive assembly 4. The optomechanical assembly is located on one side of the rotating mirror assembly 3 (e.g.,Figure 1 The light machine assembly is arranged on the seat body 1 and can be used for emitting and receiving a detection light beam.

[0060] In the embodiment of the present application, as shown in Figure 1 and Figure 3 The rotating mirror assembly 3 comprises a support 31 and a mirror group 32. The mirror group 32 is mounted on the support 31, and the support 31 is arranged on the seat body 1 to rotate around the rotating axis 33. In this way, the mirror group 32 can rotate together with the support 31 to control the emission direction of the detection light beam emitted by the light machine assembly to the external environment, which is beneficial to expand the detection range of the optical distance measuring device 100.

[0061] The support 31 has an upper end (not shown in the figure, which can be the top end of the support 31 in its extension direction) and a lower end (not shown in the figure, which can be the bottom end of the support 31 in its extension direction) arranged along the rotating axis 33. In order to improve the stability of the installation and rotation of the rotating mirror assembly 3, the seat body 1 applies a supporting force to the support 31, and the direction of the supporting force is the direction in which the lower end of the support 31 points to the upper end of the support 31.

[0062] In the embodiment of the present application, the mirror group 32 can be used to reflect the detection light beam from the light machine assembly to the external environment, and the mirror group 32 can also be used to reflect the detection light beam reflected back by the external environment to the light machine assembly. The driving assembly 4 is used to drive the rotating mirror assembly 3 to rotate around the rotating axis 33. Exemplarily, the output end of the driving assembly 4 is connected to the lower end of the support 31 of the rotating mirror assembly 3, and under the driving of the driving assembly 4, the support 31 rotates around the rotating axis 33 to drive the mirror group 32 mounted on the support 31 to rotate together.

[0063] In the embodiment of the present application, as shown in Figure 1 and Figure 2 The driving assembly 4 comprises a stator 41 and a rotor 42, the stator 41 is fixedly arranged relative to the seat body 1, and the rotor 42 is mounted on the support 31. Under the interaction of the electromagnetic field between the stator 41 and the rotor 42, the rotor 42 can rotate to drive the support 31 to rotate.

[0064] It should be noted that the driving assembly 4 can be a brushless motor to ensure that the optical distance measuring device 100 is used efficiently, low noise and long service life. Of course, the driving assembly 4 can also be other suitable types of motors. The generation mode of the electromagnetic field between the stator 41 and the rotor 42 can be determined according to the type of motor to which the driving assembly 4 belongs, which is not particularly limited here.

[0065] In the embodiment of the utility model, the stator 41 applies shaft tension to the rotor 42, wherein the direction of the shaft tension is the direction in which the upper end of the support 31 points to the lower end of the support 31. The upper end of the support 31 is a free end and is spaced apart from or abuts the seat body 1. Understandably, the lower end of the support 31 is provided with the driving assembly 4, so that the support 31 can drive the mirror group 32 to rotate around the rotation axis 33 under the driving of the driving assembly 4. The lower end of the support 31 is also mounted on the seat body 1, and the seat body 1 provides the support 31 with a support force in the direction in which the lower end of the support 31 points to the upper end of the support 31, but the upper end of the support 31 is not mounted on the seat body 1 and is a free end, which can freely rotate around the rotation axis 33 with the lower end of the support 31 within a permissible range. During the rotation of the rotating mirror assembly 3, the stator 41 applies shaft tension to the rotor 42 in the direction in which the upper end of the support 31 points to the lower end of the support 31, that is, in the extension direction of the support 31, the shaft tension is applied from top to bottom.

[0066] The inventor has found through research that, during the rotation of the driving assembly 4 at the lower end of the support 31, the rotating mirror assembly 3 generally has a small weight and is relatively light compared to the weight of the optical machine assembly. On the basis of the seat body 1 providing the support 31 with a support force in the direction in which the lower end of the support 31 points to the upper end of the support 31, the stator 41 applies shaft tension to the rotor 42 in the direction in which the upper end of the support 31 points to the lower end of the support 31, so as to ensure that the rotating mirror assembly 3 does not separate from the seat body 1, remains stationary at the mounting position with the driving assembly 4 and the seat body 1, and when there is sufficient shaft tension, the rotating mirror assembly 3 does not shake in the front, back, left, right, and other directions during rotation. In particular, when the mirror body in the mirror group 32 is a single flat mirror (compared to a prismatic multi-faceted rotating mirror, which has a small volume), it is less likely to shake. Therefore, the upper end of the support 31 can be provided as a free end to remove the fixed connection structure between the upper end of the support 31 and the seat body 1, for example, the bearing structure for rotationally connecting the upper end of the support 31 and the seat body 1 can be omitted. Furthermore, the problems of shaking, noise, and wear caused by the rotation of the bearing structure can also be solved, and components such as the circlip (used to prevent axial jumping of the motor shaft) of the motor shaft of the driving assembly 4 can be provided, so as to obtain an optical distance measuring device 100 with a simpler and more compact structure, which is conducive to reducing the cost and miniaturization design of the optical distance measuring device 100 applied to products such as self-moving devices, for example, floor sweeping machines and lawn mowing robots.

[0067] It should be noted that the size of the shaft tension described herein can be determined according to actual needs and is not particularly limited herein, as long as the size of the shaft tension can ensure that the rotating rotating mirror assembly 3 can stably remain stationary at the original mounting position and does not shake.

[0068] In summary, compared with the prior art, the optical distance measuring device 100 has at least the following beneficial effects: the optical distance measuring device 100 can provide sufficient force for the rotating mirror assembly 3 in rotation by providing the stator 41 with the axial tension on the rotor 42 in the direction from the upper end of the support 31 to the lower end of the support 31, ensuring that the rotating mirror assembly 3 in rotation does not separate from the seat body 1, can remain stationary with the driving assembly 4 and the seat body 1 at the installation position, and can also ensure that the rotating mirror assembly 3 in rotation does not sway in the radial direction (for example, the front, rear, left or right direction) of the rotation axis 33, so that the upper end of the support 31 can be set as a free end to remove the fixed connection structure between the upper end of the support 31 and the seat body 1, and the structure of the optical distance measuring device 100 can be further simplified and compacted, which is beneficial to the low-cost and miniaturized design of the optical distance measuring device 100.

[0069] In order to enable personnel in the technical field to better understand the scheme of the present application, the following will combine the accompanying drawings to Figures 1 to 6 The technical scheme in the embodiments of the present application is clearly and completely described. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

[0070] In some embodiments of the present application, as shown in Figure 1 and Figure 2 In order to realize the axial tension of the stator 41 on the rotor 42 in the direction from the upper end of the support 31 to the lower end of the support 31, the magnetic field center of the rotor 42 is higher than the magnetic field center of the stator 41, and / or the geometric center of the rotor 42 is higher than the geometric center of the stator 41, and / or the gravity center of the rotor 42 is higher than the gravity center of the stator 41, and / or the height center of the rotor 42 is higher than the height center of the stator 41.

[0071] Understandably, by configuring the rotor 42 to be upwardly biased by a preset distance relative to the stator 41 in the direction from the lower end to the upper end of the support 31, the magnetic field between the stator 41 and the rotor 42 can convert electrical energy into mechanical energy to make the rotor 42 rotate, so as to realize the above-mentioned axial tension of the stator 41 on the rotor 42 rotating around the rotation axis 33, so as to ensure that the rotating mirror assembly 3 rotating together with the rotor 42 remains stationary at the original installation position.

[0072] It should be noted that in the case of the magnetic field of the rotor 42 (stator 41) being uniform in mass and regular in shape, the magnetic field center, geometric center, barycenter and height center of the rotor 42 (stator 41) are usually the same center. Whether the magnetic field center, geometric center, barycenter and height center of the rotor 42 (stator 41) are at the same center or not, the upward bias of the rotor 42 relative to the stator 41 in the direction from the lower end to the upper end of the support 31 only needs to ensure that the stator 41 can generate an axial pull force on the rotor 42 in the direction from the upper end of the support 31 to the lower end of the support 31.

[0073] It should be further noted that the height center of the rotor 42 (stator 41) refers to half of the sum of the highest height and the lowest height of the rotor 42 (stator 41). The size of the preset distance of the upward bias described herein can be determined according to actual needs and is not particularly limited here.

[0074] In some embodiments of the present application, as shown in Figure 1 and Figure 2 The driving assembly 4 includes a rotating shaft 34, and the central axis of the rotating shaft 34 is defined as the rotating axis 33 described herein.

[0075] To realize the stable rotation of the rotating mirror assembly 3 around the rotating axis 33 (corresponding to the central axis of the rotating shaft 34), in the first specific mounting mode of the rotating shaft 34, as shown in Figure 1 and Figure 2 The upper end of the rotating shaft 34 is fixedly connected to the lower end of the support 31, and the lower end of the rotating shaft 34 is rotatably arranged on the seat body 1. In this way, in the process that the stator 41 and the rotor 42 rotate by the interaction of the electromagnetic field, the rotating rotor 42 can drive the support 31 connected thereto and the rotating shaft 34 connected to the support 31 to rotate together with the rotor 42, so as to ensure that the support 31 continuously rotates in a stable posture without shaking.

[0076] Alternatively, in the second specific mounting mode of the rotating shaft (not shown in the figure), the lower end of the rotating shaft is fixedly connected to the seat body, and the support is rotatably arranged on the rotating shaft. To prevent the rotating shaft and the support from interfering with each other, the upper end of the rotating shaft and the lower end of the support are arranged in the extension direction of the rotating axis (referred to as the first direction). In this way, under the action of the magnetic field between the stator and the rotor, the rotating rotor can drive the support connected thereto and the rotating mirror assembly mounted on the support to rotate around the central axis of the fixed rotating shaft (corresponding to the rotating axis).

[0077] It should be noted that to make the structure of the rotating connection structure of the rotating mirror assembly 3 more simple and compact, the central axis of the rotating shaft 34 is usually located on the same straight line as the central axis of the rotor 42.

[0078] It should be noted that, considering the combined effect of the support force of the seat 1 on the support 31 and the shaft tension of the stator 41 on the rotor 42, the rotating mirror assembly 3 during rotation can be ensured not to be separated from the seat 1 and not to be easily shaken, so that the clamping spring sleeved on the rotating shaft 34 can be omitted, and the rotating shaft 34 in the embodiment is installed between the lower end of the support 31 and the seat 1, without extending to the upper end of the support 31, for example, the rotating shaft 34 does not need to pass through the support 31 from the lower end of the support 31 to the upper end of the support 31, so that the length of the rotating shaft 34 can be shortened, and the thickness of the support 31 can be reduced, thereby ensuring that the structure of the optical distance measuring device 100 is simpler and more compact, and further facilitating the design of low cost and miniaturization.

[0079] In some embodiments of the present application, in order to realize the continuous rotation of the rotor 42 around the axis of the rotating shaft 34 relative to the seat 1, the optical distance measuring device 100 further comprises a boss 5 (see Figure 1 and Figure 2 ), the driving assembly 4 further comprises a bearing 43, the boss 5 is provided with a mounting hole 51 along the extension direction of the rotation axis 33 (referred to as the first direction 200), and the rotating shaft 34 is rotatably inserted into the mounting hole 51 through the bearing 43. Figure 5

[0080] When the upper end of the rotating shaft 34 is fixedly connected to the lower end of the support 31, that is, in the first specific installation mode of the rotating shaft 34, as shown in Figure 1 and Figure 2 , the boss 5 is fixedly arranged on the seat 1, the stator 41 is sleeved on the radial outer side of the boss 5, and the stator 41 is in contact with or spaced from the outer side wall of the boss 5. In this way, in the radial direction of the rotating shaft 34, the rotating shaft 34 connected to the support 31, the bearing 43 located in the mounting hole 51 and sleeved on the rotating shaft 34, the boss 5 fixedly arranged on the seat 1 and provided with the mounting hole 51, and the stator 41 sleeved on the radial outer side of the boss 5 can be sequentially sleeved from inside to outside, so as to realize the rotation of the rotor 42, the reflector group 32 mounted on the support 31 and the rotating shaft 34 fixedly connected to the support 31 around the rotation axis 33 (corresponding to the central axis of the rotating shaft 34) relative to the stator 41 and the boss 5.

[0081] Optionally, as shown in Figure 1 and Figure 2 , the boss 5 is integrally formed on the support 31, so as to facilitate the simplification of the overall disassembly process.

[0082] It should be noted that, as shown in Figure 1 and Figure 2 ​As shown, the optical distance measuring device 100 further comprises a gasket 8, wherein the gasket 8 is sleeved on the rotating shaft 34 at the top 12 of the bearing 43, so as to prevent the lower end of the support 31 from directly abutting against the boss 5 in the first direction 200, and to provide a buffering force for possible contact between the rotating support 31 and the boss 5, thereby facilitating smooth rotation of the rotating mirror assembly 3.

[0083] When the lower end of the rotating shaft is fixedly connected to the seat body, that is, in the second specific mounting mode of the rotating shaft (not shown in the figure), the upper end of the boss is fixedly connected to the lower end of the support. The stator is sleeved on the radial outer side of the boss, and the stator is spaced apart from the outer side wall of the boss. In this way, in the radial direction of the rotating shaft, the rotating shaft fixedly connected to the seat body, the bearing located in the mounting hole and sleeved on the rotating shaft, the boss fixedly connected to the support and provided with the mounting hole, and the stator sleeved on the radial outer side of the boss can be sequentially sleeved from inside to outside, so as to realize the rotation of the rotor, the support connected thereto, the reflecting mirror assembly mounted on the support, and the boss fixedly connected to the support together around the rotation axis (corresponding to the center line of the rotating shaft) relative to the stator and the rotating shaft.

[0084] In some embodiments of the present application, as shown in Figures 1 to 5 The lower end of the support 31 is provided with a containing ring 311 on the side away from the upper end. At least part of the rotating shaft 34, at least part of the rotor 42, and at least part of the stator 41 are located in the containing ring 311, so that the connection structure of the driving assembly 4 and the rotating mirror assembly 3 is more compact, thereby facilitating reduction of the overall height of the optical distance measuring device 100 and improving the stability of the rotation of the rotating mirror assembly 3.

[0085] Optionally, as shown in Figure 1 and Figure 2 In the first direction 200, the bottom surface of the rotor 42 is flush with the bottom surface of the stator 41, and the top surface of the rotor 42 is higher than the top surface of the stator 41, so as to ensure that the height center of the rotor 42 is higher than the height center of the stator 41, thereby ensuring that the stator 41 can exert the above-mentioned axial tension on the rotor 42, and the rotor 42 and the stator 41 can be accommodated in the ring cavity of the containing ring 311 as much as possible. Of course, in actual application, the bottom surface of the stator 41 and the bottom surface of the rotor 42 can also not be flush, which is not particularly limited here.

[0086] Optionally, as shown in Figure 1 and Figure 4 The containing ring 311 and the support 31 are integrally formed, so as to facilitate simplification of the overall disassembly and assembly process. Of course, in other embodiments, the containing ring 311 can also be separately provided on the support 31.

[0087] In some embodiments of the present application, as shown in Figures 1 to 3As shown, the seat body 1 includes a side portion 11, a top portion 12 and a bottom portion 13. The side portion 11 of the seat body 1 is arranged opposite to the rotating mirror assembly 3 along a radial direction (referred to as the second direction 300) of the rotating axis 33, so as to at least protect the rotating mirror assembly 3 at the periphery of the rotating mirror assembly 3 and provide a corresponding optical cavity. The top portion 12 of the seat body 1 is integrally formed or fixedly connected with the upper end of the side portion 11. In the case where the upper end of the support 31 is configured as a free end, the upper end of the support 31 is arranged in a gap or abutting manner along the extension direction (corresponding to the first direction 200) of the rotating axis 33 with the top portion 12 of the seat body 1, so as to ensure that the upper end of the support 31 has an axial movement space within a permissible range relative to the top portion 12 of the seat body 1 in the first direction 200 when arranged in the gap, or to ensure that the upper end of the support 31 remains stationary relative to the top portion 12 of the seat body 1 in the first direction 200 when arranged in the abutting manner.

[0088] In some embodiments, a limiting structure 6 is arranged between the upper end of the support 31 and the top portion 12 of the seat body 1, so as to limit the swinging of the upper end of the support 31 relative to the top portion 12 of the seat body 1 along the radial direction (corresponding to the second direction 300) of the rotating axis 33 through the limiting structure 6, so as to avoid the swinging in case of occurrence.

[0089] Exemplarily, when the limiting structure is arranged between the support 31 and the top portion 12, the limiting structure includes a concave portion and a convex portion in a concave-convex matching manner. Either the upper end of the support 31 or the top portion 12 of the seat body 1 is provided with the concave portion, and the other is provided with the convex portion, so as to limit the swinging amplitude of the upper end of the support 31 relative to the top portion 12 of the seat body 1 along the second direction 300 through the concave-convex matching of the concave portion and the convex portion.

[0090] Further exemplarily, as shown, Figure 6 the concave portion 61 of the limiting structure 6 is arranged on the top portion 12 of the seat body 1, and the convex portion 62 (see Figure 1 , Figures 4 to 6 ) is arranged on the upper end of the support 31. The convex portion 62 is arranged in a gap manner with the top portion 12 of the seat body 1 in the first direction 200, so as to allow the upper end of the support 31 to have a certain axial movement space in the first direction 200, and to limit the swinging amplitude of the upper end of the support 31 relative to the top portion 12 of the seat body 1 along the second direction 300 through the concave-convex matching between the concave portion 61 on the top portion 12 of the seat body 1 and the convex portion 62 on the upper end of the support 31, so as to ensure the stability of the overall operation of the optical distance measuring device 100.

[0091] In addition, the bottom portion 13 of the seat body 1 is integrally formed or fixedly connected with the lower end of the side portion 11. The lower end of the support 31 is rotatably arranged on the bottom portion 13 of the seat body 1, and the bottom portion 13 of the seat body 1 applies a supporting force to the support 31. Exemplarily, as shown, Figures 1 to 3 , Figure 5As shown, the top 12 of the seat body 1 is fixedly connected with the upper end of the side 11, and the top 12 of the seat body 1 can be disassembled when needed, so as to facilitate disassembly and assembly of the rotating mirror assembly 3. The bottom 13 of the seat body 1 is integrally formed with the lower end of the side 11, and the boss 5 is integrally formed on the bottom 13 of the seat body 1. The seat body 1 can apply a supporting force to the lower end of the support 31 through the boss 5, so as to further simplify the structure of the optical distance measuring device 100 and ensure that the structure is more compact.

[0092] In some embodiments of the present application, in order to realize the function of emitting and receiving detection light beams of the optical machine assembly, the optical machine assembly comprises a transmitting part (not shown in the figure) and a receiving part (not shown in the figure), wherein the transmitting part and the receiving part are arranged in an up-down manner. It should be noted that the up-down arrangement described herein does not necessarily mean a direct up-down arrangement, as long as it is arranged in an up-down manner in the first direction 200.

[0093] It should be further noted that, as Figure 3 and Figure 5 shown, the side 11 of the seat body 1 is provided with a light emitting hole 14 and a light receiving hole 15 on the same side of the rotating mirror assembly 3, wherein the detection light beam emitted by the transmitting part can pass through the light emitting hole 14 and be incident on the reflecting mirror group 32, and the detection light beam reflected by the external environment can pass through the light receiving hole 15 and be incident on the receiving part after being reflected by the reflecting mirror group 32, for the receiving part to receive.

[0094] As shown in Figure 1 and Figure 3 , in order to improve the detection effect, the reflecting mirror group 32 comprises a first mirror body 321 and a second mirror body 322, wherein a first side surface 3211 (see Figure 1 and Figure 4 ) of the first mirror body 321 is used to reflect the detection light beam from the transmitting part to the external environment, and a second side surface 3221 (see Figure 1 and Figure 4 ) of the second mirror body 322 is used to reflect the detection light beam reflected by the external environment to the receiving part.

[0095] It should be noted that the first mirror body 321 and the second mirror body 322 can be reflecting mirrors, or other mirror bodies with reflecting function, or even a reflecting surface formed directly on the support 31, which is not particularly limited. Preferably, the first mirror body 321 and the second mirror body 322 are plane mirror lenses, which can reduce the weight of the rotating mirror assembly 3, thereby ensuring the stability of the rotating mirror assembly 3.

[0096] In addition, as Figure 1 , Figures 3 to 5As shown, to reduce the probability of interference between the emitted detection light beam and the received detection light beam, the rotating mirror assembly 3 further comprises a light isolation layer 35 connected to the support 31. Wherein, along the radial direction of the rotation axis 33 (corresponding to the second direction 300), at least part of the light isolation layer 35 is located between the outer space of the first side surface 3211 and the outer space of the second side surface 3221.

[0097] Exemplarily, the side portion 11 of the seat body 1, the top portion 12 of the seat body 1, the first side surface 3211 of the first mirror body 321 and the top surface of the light isolation layer 35 can collectively enclose a light emitting cavity (not shown in the figure) at the position corresponding to the light emitting hole 14, so as to ensure that the detection light beam emitted by the emitting portion can almost entirely enter the light emitting cavity from the light emitting hole 14 and then be emitted to the external environment. Correspondingly, the side portion 11 of the seat body 1, the bottom portion 13 of the seat body 1, the second side surface 3221 of the second mirror body 322 and the bottom surface of the light isolation layer 35 can collectively enclose a light receiving cavity (not shown in the figure) at the position corresponding to the light receiving hole 15, so as to ensure that the detection light beam reflected back by the external environment can entirely enter the light receiving cavity and then be received by the receiving portion after passing through the light receiving hole 15. In this way, the detection light beam emitted by the emitting portion to the first mirror body 321 and the detection light beam reflected back by the external environment to the second mirror body 322 can be separated by the light isolation layer 35, so as to reduce the probability of mutual interference of the light beams.

[0098] The side of the rotating mirror assembly 3 opposite to the first side surface 3211 is set as a third side surface 3212 (see Figure 1 and Figure 4 The side of the rotating mirror assembly 3 opposite to the second side surface 3221 is set as a fourth side surface 3222 (see Figure 1 and Figure 4 ). Wherein, the third side surface 3212 is formed as a reflective surface or a non-reflective surface, and the fourth side surface 3222 is formed as a reflective surface or a non-reflective surface. As shown in Figure 1 and Figure 3 , along the radial direction of the rotation axis 33 (corresponding to the second direction 300), at least part of the light isolation layer 35 is located between the outer space of the third side surface 3212 and the outer space of the fourth side surface 3222.

[0099] It should be noted that the first side surface 3211 and the second side surface 3221 are located on the same side (for example, the left side) of the support 31, and the third side surface 3212 and the fourth side surface 3222 are located on the other same side (for example, the right side) of the support 31.

[0100] As can be understood, Figure 1 and Figure 3As shown in the second direction 300, the light isolation layer 35 is at least partially protruded on one side of the support 31, and the light isolation layer 35 is at least partially protruded on the other side of the support 31. In short, the opposite sides of the support 31 are both provided with at least part of the light isolation layer 35 in the first direction 200. Thus, in the rotation process of the rotating mirror assembly 3 around the rotation axis 33, the support 31 can be balanced by the light isolation layer 35 located on the opposite sides of the support 31, even if one side is not provided with a reflecting surface and does not need to be isolated from light, so as to facilitate reducing the probability of the support 31 shaking in the second direction 300.

[0101] In some embodiments of the present application, as shown in Figure 1 、 Figure 3 and Figure 5 , the seat body 1 comprises a side portion 11, and the side portion 11 of the seat body 1 is formed with a first cavity 111, and the rotating mirror assembly 3 is accommodated in the first cavity 111, and the first cavity 111 has an opening 1111, wherein the opening 1111 can be used to avoid the passage of the detection light beam reflected to the external environment, and to avoid the passage of the detection light beam reflected back by the external environment.

[0102] Exemplarily, the mirror group 32 comprises a first mirror body 321 and a second mirror body 322 arranged up and down in the first direction 200, and the rotating mirror assembly 3 further comprises a light isolation layer 35, which is connected to the support 31, located between the first mirror body 321 and the second mirror body 322, and protruded in the second direction 300 to the first cavity 111 to separate the first cavity 111 into a transmitting light cavity (not shown in the figure) and a receiving light cavity (not shown in the figure), wherein the first mirror body 321 is located in the transmitting light cavity, and the second mirror body 322 is located in the receiving light cavity. The detection light beam reflected by the first mirror body 321 in the transmitting light cavity can be emitted to the external environment through the opening 1111, and the detection light beam reflected back by the external environment can be emitted back to the receiving light cavity through the opening 1111, and then reflected to the receiving portion by the second mirror body 322.

[0103] As shown in Figure 1 , the light isolation layer 35 is arranged in a gap between the cavity wall of the first cavity 111, for example, in the case that the top portion 12 of the seat body 1 is fixedly connected with the side portion 11 of the seat body 1 separately, the top portion 12 of the seat body 1 can be detached from the side portion 11 of the seat body 1, and then the rotating mirror assembly 3 and / or the driving assembly 4 can be installed into or taken out from the first cavity 111 through the top portion 12 of the seat body 1, thereby facilitating the disassembly and assembly of the rotating mirror assembly 3 and the driving assembly 4.

[0104] In some embodiments, as shown in Figure 1 、 Figure 3 and Figure 5 , a groove 1112 is recessed on the cavity wall of the first cavity 111 (see Figure 5), the groove 1112 and the peripheral edge of the light isolation layer 35 are radially spaced and oppositely arranged along the rotation axis 33. In this way, on the one hand, the light leakage probability can be reduced, and on the other hand, in the case that there is no radial gap between the peripheral edge of the light isolation layer 35 and the cavity wall of the first cavity 111, the light isolation layer 35 can be positioned by the concave-convex cooperation between the peripheral edge of the light isolation layer 35 and the groove 1112, which is beneficial to reduce the probability of the rotation mirror assembly 3 shaking in the second direction 300.

[0105] It should be noted that, as shown in Figure 1 To protect each component installed on the seat body 1 and the seat body 1, and further improve the detection effect of the optical distance measuring device 100, the optical distance measuring device 100 further comprises a shell 7, wherein the shell 7 is arranged on the periphery of the seat body 1. The structure of the shell 7 can adopt an existing or newly created structure, which can be determined according to actual needs, and is not particularly limited here.

[0106] Based on the above optical distance measuring device 100, the embodiment of the utility model further provides a self-moving device, wherein the self-moving device comprises a body and the above optical distance measuring device 100, and the optical distance measuring device 100 is arranged on the body. Taking a sweeping machine as an example, the optical distance measuring device 100 can be arranged on at least one position of the top, side wall and bottom of the sweeping machine body, as long as the corresponding detection requirement can be achieved, and the installation position of the optical distance measuring device 100 is not particularly limited here.

[0107] In summary, compared with the prior art, the self-moving device has at least the following beneficial effects: by adopting the above optical distance measuring device 100, the overall structure of the self-moving device is simple and compact, which is beneficial to realize the low-cost and miniaturized design of the self-moving device.

[0108] The above only describes preferred embodiments of the utility model and is not used to limit the utility model. For those skilled in the art, the utility model can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the scope of claims of the utility model.

Claims

1. An optical distance measuring device, characterized in that The optical distance measuring device comprises: a seat body; a light machine assembly arranged on the seat body and configured to emit and receive a detection light beam; a rotating mirror assembly comprising a support and a mirror group arranged on the support; the support is arranged on the seat body to rotate around a rotating axis, the support has an upper end and a lower end arranged along the rotating axis, the seat body applies a supporting force to the support, the supporting force is directed from the lower end of the support to the upper end of the support; the upper end of the support is a free end, is arranged spaced apart from the seat body or is arranged in abutment with the seat body; the mirror group is configured to reflect the detection light beam from the light machine assembly to an external environment and to reflect the detection light beam reflected by the external environment to the light machine assembly; a driving assembly configured to drive the rotating mirror assembly to rotate around the rotating axis; the driving assembly comprises a stator and a rotor, the stator is fixedly arranged relative to the seat body, and the rotor is arranged on the support; the stator applies an axial tension to the rotor, and the axial tension is directed from the upper end of the support to the lower end of the support.

2. The optical distance measuring device according to claim 1, characterized in that The magnetic field center of the rotor is higher than the magnetic field center of the stator; and / or, the geometric center of the rotor is higher than the geometric center of the stator; and / or, the gravity center of the rotor is higher than the gravity center of the stator; and / or, the height center of the rotor is higher than the height center of the stator.

3. The optical distance measuring device according to claim 1, characterized in that The driving assembly further comprises a rotating shaft; the upper end of the rotating shaft is fixedly connected to the lower end of the support, and the lower end of the rotating shaft is arranged on the seat body to rotate; or, the lower end of the rotating shaft is fixedly connected to the seat body, the support is arranged on the rotating shaft to rotate, and the upper end of the rotating shaft is arranged spaced apart from the lower end of the support along the extension direction of the rotating axis.

4. The optical distance measuring device according to claim 3, characterized in that The optical distance measuring device further comprises a boss, the driving assembly further comprises a bearing, the boss is provided with a mounting hole along the extension direction of the rotating axis, and the rotating shaft is arranged in the mounting hole through the bearing to rotate; when the upper end of the rotating shaft is fixedly connected to the lower end of the support, the boss is fixedly arranged on the seat body; the stator is arranged on the radial outer side of the boss in a sleeving manner, and the stator is in contact with or arranged spaced apart from the outer side wall of the boss; when the lower end of the rotating shaft is fixedly connected to the seat body, the upper end of the boss is fixedly connected to the lower end of the support; the stator is arranged on the radial outer side of the boss in a sleeving manner, and the stator is arranged spaced apart from the outer side wall of the boss.

5. The optical distance measuring device according to claim 3, characterized in that The lower end of the support is convexly provided with a containing ring on the side away from the upper end, and the rotating shaft, the rotor and the stator are located in the containing ring.

6. The optical distance measuring device according to claim 1, characterized in that The seat body comprises a side portion, a top portion and a bottom portion: the side portion is arranged radially opposite to the rotating mirror assembly along the rotating axis; The top is integrally formed with or fixedly connected with the upper end of the side portion; wherein the upper end of the support is gap arranged or abutting arranged along the extension direction of the rotation axis with the top, and / or, a limiting structure is arranged between the upper end of the support and the top, for limiting the radial swing of the upper end of the support relative to the top along the rotation axis; The bottom is integrally formed with or fixedly connected with the lower end of the side portion; the lower end of the support is rotatably arranged on the bottom, and the bottom applies the support force to the support.

7. The optical distance measuring device according to claim 6, characterized in that When the limiting structure is arranged between the support and the top, the limiting structure comprises a concave part and a convex part in concave-convex cooperation; Either the upper end of the support or the top of the seat body is provided with the concave part, and the other is provided with the convex part.

8. The optical distance measuring device according to claim 1, characterized in that The optical machine assembly comprises a transmitting part and a receiving part, and the transmitting part and the receiving part are arranged in an up-down manner; The mirror group comprises a first mirror body and a second mirror body, a first side surface of the first mirror body is used for reflecting the detection light beam from the transmitting part to the external environment, and a second side surface of the second mirror body is used for reflecting the detection light beam reflected back by the external environment to the receiving part; The rotating mirror assembly further comprises a light shielding layer, and the light shielding layer is connected to the support; along the radial direction of the rotation axis, at least part of the light shielding layer is located between the outer space of the first side surface and the outer space of the second side surface; A side of the rotating mirror assembly opposite to the first side surface is a third side surface, and a side of the rotating mirror assembly opposite to the second side surface is a fourth side surface; wherein the third side surface is formed as a reflective surface or a non-reflective surface, and the fourth side surface is formed as a reflective surface or a non-reflective surface; along the radial direction of the rotation axis, at least part of the light shielding layer is located between the outer space of the third side surface and the outer space of the fourth side surface.

9. The optical distance measuring device according to claim 8, characterized in that The seat body comprises a side portion, the side portion is formed with a first cavity having an opening, the rotating mirror assembly is accommodated in the first cavity, and the opening is used for avoiding the passage of the detection light beam reflected to the external environment and the passage of the detection light beam reflected back by the external environment; The light shielding layer is gap arranged with the cavity wall of the first cavity; And / or, a groove is concavely arranged on the cavity wall of the first cavity, and the groove and the peripheral edge of the light shielding layer are radially spaced and oppositely arranged along the rotation axis.

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

Images